在本文中，使用撓性氣壓驅動器設計2D氣壓手臂並搭配CCD Camera，經由影像視覺轉換來量測 2D軌跡。CCD Camera是一非接觸性的感測器，安裝上是容易且低負載影響。由於氣壓手臂控制系統有非線性壓縮和不對稱慣性的影響，為了降低系統辨識造成的電腦負載，本文將採用滑動模糊控制器，透過各種軌跡追縱實驗，評估影像視覺在2D距離量測的動態特性，以及氣壓手臂控制系統在控制和追蹤的精確度。

In this thesis, a pneumatic arm is setup by pneumatic muscle actuators and is associated with a CCD camera to measure the 2D trajectory via the photo vision transformation. To compare with the traditional sensors, the CCD camera is a non-contact sensor. Its installation is easier and less loading effect. Due to pneumatic nonlinearifies and non-symmetric moment effects, and to reduce the computer load of on-line system identification, this thesis implements the sliding mode fuzzy controller the 2D trajectory control. Through variety trajectory tracing experiments, it can study the characteristics of this photo vision based 2D pneumatic arm, and evaluate their trajectory tracking control performance.

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