本文主要應用SOPC技術研製具機器視覺之機械手臂運動控制系統，並且實現以視覺感測輔助機械手臂辨識五子棋棋盤變化之對戰遊戲。在影像輔助之機械手臂伺服系統的控制晶片內包含兩部分，第一個部份是在晶片內以數位硬體電路實現訊號擷取與輸出控制訊號之功能，共包含五組光學編碼器信號偵測與四倍頻寬解碼電路、極限開關訊號偵測、五組脈波寬度調變信號輸出、CMOS影像感測器訊號擷取等。第二部份是在Nios II微處理器內以軟體方式實現控制動作，其功能有控制晶片與個人電腦間的串列通訊、反運動學方程式計算、點對點運動控制、連續運動軌跡計算、機械手臂運動之程序控制、自組織模糊控制器、模糊滑動模式控制器、數位影像處理及五子棋AI演算法等等。在系統晶片內之硬體部分使用Verilog硬體描述語言撰寫；軟體部分使用C程式語言撰寫。系統晶片採用美商ALTERA公司生產的Statrix II EP2S60F672C5ES現場可程式邏輯閘陣列（FPGA），CMOS影像感測器採用國內PIXART公司所生產的PAS106BCB283彩色影像感測器，此感測器為解析度為356×292。最後，本論文整合一套系統，包括Nios II發展板、機械手臂、直流馬達驅動電路和CMOS影像感測器等，經由實驗結果之比較而選擇精確且有效率的控制器，配合機器視覺輔助來驗證本文所設計的系統晶片之有效性與正確性。

A servo control IC for robot arm using SOPC technology is presented in this thesis. A gobang game is implemented in the system by using vision feedback to recognition pieces in the board. In the proposed servo control IC, there are two modules. One module is implemented by hardware circuit. Its functions are five quadrature encoder pulse process, ten limit switches detect, five pulse width modulation generator and CMOS image sensor signal capture. The other module is implemented by software using Nios II micro processor. Its functions are an UART to connection with PC, inverse kinematics of robot arm, point to point motion control, continuous motion trajectory control, sequential control, self organization fuzzy control, fuzzy sliding mode control, digital image processing and gobang game AI algorithm. The digital hardware circuits are design by Verilog language and programs in Nios II micro processor is coded in C language. The FPGA chip adopts ALTERA Statrix II EP2S60F672C5ES on the development board. The CMOS color image sensor adopts PIXART PAS106BCB283 which resolution is 356×292 pixels. At last, an integrated experimental system which includes Nios II development board, five axis robot arm, DC motor drivers and CMOS image sensor has been constructed. Some experimental results have been provided and demonstrated the effectiveness and correctness of the proposed servo control system.

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