機械手臂通常使用編碼器量測馬達的角度，但由於手臂關節在長時間磨損或老舊後導致編碼器感測的角度不準確，本論文研發一套使用單顆相機鏡頭量測六軸串聯式機械手臂角度的自動化感測系統。
本研究首先推導出用來描述六軸串聯式機械手臂運動學的D-H法及投影方程式，接下來運用線性與非線性回歸分析方式估測出最佳的手臂參數以及相機內參數，基於上述的參數以及演算法，我們可以在三維的環境中利用單張照片決定機械手臂的位置及姿態，接下來利用影像處理以及形態學技術感測目標特徵點，並讓程式自動抓取目標點投影座標，帶入演算法計算以獲得手臂姿態，最後利用Labview軟體完成人機自動化系統，整合了上述之影像處理、三維演算法，實現了自動化感測之目的。

Encoders are commonly applied to sense the rotating angles of manipulator joints, but angles might be not accurately obtained because of wearing joints. This thesis develops an automatic system to estimate the attitude of a six-axis robot manipulator.
First, the D-H method is used to formulate the kinematics of manipulators, and a set of projection equations are derived. Secondly, to estimate the parameters of the robot and the camera by using linear and nonlinear regression, the joint angles of the robot are estimated based on the projection equations. Thirdly, image processing and morphological techniques are used to analyze the target points, and a computer code is developed so as to detect projection coordinates of the target point automatically. Finally, the image processing and the attitude estimation algorithms are integrated by the software LabView in order to develop the automatic attitude estimation system.

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