本文中，主要是利用平行與非平行兩種不同的立體影像視覺進行3D氣壓手臂伺服控制。利用撓性氣壓缸與旋轉氣壓缸組成的3D氣壓手臂，配合兩台CCD以不同的立體影像視覺，經由3D空間的座標轉換，再結合自組織滑動模糊控制器，進行手臂末端特徵物的軌跡追蹤控制。經由與Encoder比較，分析立體影像的量測誤差，以及各項軌跡追蹤實驗的結果，來評估這兩種影像視覺的特性與差異性，及討論其可行性。

This thesis is mainly to develop parallel and non-parallel stereo vision based 3D pneumatic arms. The 3D pneumatic arm is setup by pneumatic muscle and rotational actuators. The parallelly and vertically installed two CCD Cameras can provide the stereo vision. Then, via the stereo triangulation and coordinate transformation, it can capture the 3D location of pneumatic arm. The self-organizing sliding-mode fuzzy controller is designed for the arm’s trajectory tracking control. Based on the encoder’s measurement, it can justify the measurement error of parallel and non-parallel stereo visions. Then, the variety trajectory tracking experiments are implemented to verify the feasibility of vision-based 3D pneumatic arms.

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