本研究目的在開發出一套使用外加光源的結構光系統並操作機械手臂加以驗證系統偵測之資料準確度。此結構光系統採用單支網路攝影機，結合一部微型投影機，並將此組合裝設至手臂上，用來即時偵測任一個物件或軌跡的三維資料。
結構光系統部分，首先將投影機與攝影機進行校正完後，並設計投影機投射圖案為多條水平與垂直線型光組成，由攝影機擷取物件受到結構光投射後的影像，再將擷取的影像進行顏色解碼，將影像上的像素點給予編碼，解碼完帶入三角測距之方程式，計算出物件上的三維資訊，再交給機械手臂執行相關任務。
為驗證此結構光系統的精確度，將系統設置在手臂上，對一條已標記顏色的軌跡進行追蹤，將結構光系統偵測到的位置資訊使用座標轉換矩陣轉換至機械手臂座標系統後，給予機械手臂執行追蹤任務。在實驗中測試不同情況的軌跡，觀測是否能夠順利完成循跡任務，並同時分析結構光系統之穩定性，進而找尋出此系統最佳投影結構光定位之效果。

The purpose of the research is to develop one structured light system which uses the projector to be light source. In order to prove the accuracy of the system, we use the robot manipulator to be our experiment installment. The system is built by single webcam and a micro-projector. Install the system on the manipulator to acquire the 3-d information of the object or the tracking path.
In the structured light system, we need to calibrate the projector and the camera first. Then, design the projection pattern that is composed by several horizontal and vertical lines. By capturing the image of projection pattern, decode the image to calculate the 3-d position of the pattern that is on the object. Finally, we give the manipulator those information to execute the setting job.
To prove the accuracy of the system, we install the system on the manipulator to track the marked path. Transform the point coordinate from camera system into manipulator system. Then, let the manipulator execute the tracking mission. Here, we try different type of the track to verify whether manipulator could complete the tracking mission. Simultaneously, analyze the stability of the tracking system to find out the best setup of the structured light system.

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