目前大部分的影像伺服系統，其應用範圍多半以工業自動化為主，較少以娛樂或休閒為導向作開發，且開發核心皆以個人電腦為基本架構，造成系統成本過高且體積龐大，而數位訊號處理器(Digital Signal Processor, DSP)功能的提升，強化運算效能與增加儲存容量，因此可用來取代以個人電腦為主的影像伺服系統。
本研究利用德州儀器公司所生產之數位訊號處理器，作為系統之開發平台，整合取像攝影機與三軸機械臂，以人機互動之娛樂型機器人為發展目標，建構一套影像伺服擊球系統。
研究中分為影像處理與運動控制二個子系統，由影像處理子系統計算球之滾動軌跡與預計進入擊球區位置，將結果通知運動控制子系統，規劃機械臂以擬人的姿態進行擊球；經由實際測試，確實能正確預測球之進入位置，進而能準確地進行擊球動作。

關鍵詞：影像伺服系統、數位信號處理器、三軸機械臂、嵌入式系統

Most of the visual servo systems in are currently designed for the industrial automation application. Few of them are created for recreational or leisure purposes, and besides, the core of their development is based on personal computer, resulting in the enormous system cost and huge volume. However, several functional upgrades of digital signal processor (DSP), including computing enhancement and increase of storage capacity, have enabled DSP to replace the personal computer-based Visual Servo Systems.

The research utilized the DSP provided by Texas Instrument as the platform for system development, integrating visual capture cameras and Three-link robotic arms. The research goal is to develop human-computer interaction of recreational robots and build a visual servo ball-hitting system.

The research is divided into image processing and motion control sub-systems. Visual processing sub-system will calculate the rolling track of the balls, predict its location in hitting area, and then notify the motion control system the result, to formulate the robot arm in anthropomorphic ways to strike the ball. From actual field tests of this research, the system proves that it can accurately predict the hitting area of the ball and then perform exact swing movements.
Key Word: Visual Servo System, Digital Signal Processor, Three-link robot arm, embedded system.

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