本論文提出一以影像為基礎之雙機器手臂投擲落點之控制器開發；此研究內容包含設計及製作具六自由度之雙手臂機器人與一可調整高度之機器人支架結構。此一設計之目的在於透過影像定位技術以及手臂運動控制將一足球投擲到機器人前方2.4公尺範圍內之指定位置。此一影像伺服控制器使用個人電腦並架設一網路攝影機，透過攝影機及時擷取畫面並由個人電腦進行放置於機器人前方之投擲落點影像辨識；接下來動作控制器則負責投擲運動軌跡規劃與馬達位置控制。然而，本研究所使用之RC伺服馬達具有背隙，而影像定位也有距離測量誤差；因此，本論文提出一自調適投擲角度演算法，藉由每次投擲位置之偏差位置回授投擲角度之修正依據，使得機器人具自我修正投擲角度之能力，逐漸提升投擲之準確度。最後，本研究以實際製作之機器手臂進行足球投擲準確之效能評估，驗證此一研究之可行性。

This study proposes a vision-based robotic ball throwing control system for a desired image target position with a dual-arm robot system. The dual-arm robot platform is composed of a six degrees-of-freedom robotic arm and an adjustable robot body platform. The proposed solution is to use the image system to recognize the image target that is placed in front of the robot within 2.4 meters, as well as to control the dual robotic arms to throw a soccer ball to hit the image target. The control system is composed a personal computer and a web camera. The image system is responsible of recognizing the image target, and then calculating the position of the image target. The robotic arm control system further executes the throwing motion with respect to the inferred throwing angle. Nevertheless, the uncertainties of RC servo backlash and image recognition errors result in the accuracy of throwing performance. Therefore, this thesis proposes a self-tuning based dual-arm throw control approach to overcome the aforementioned problems. The throwing angle can be asymptotically adjusted by inferring the error of hitting the image target. Eventually, the dual-arm robot is capable of throwing the ball to hit the image target successfully. Finally, several experiments were presented and discussed to verify the proposed approaches.

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