本論文主要以系統晶片(SOPC) 為基礎研製機械臂之伺服運動控制。採用MATLAB實現影像彩色空間轉換、形態學運算、物體顏色形狀辨識分類、端點偵測。機械臂伺服系統控制中內包含兩部分，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，控制訊號由FPGA發展板送至馬達驅動電路驅動各軸馬達，共包含四倍頻寬解碼電路、極限開關訊號偵測、脈波寬度調變輸出、點到點運動控制，以硬體實現的原因是計算簡單且計算速度較快。第二部份是在 Nios II 微處理機內以軟體實現人機介面、反運動學計算、機械臂運動程序之控制。

最後，使用者能透過電腦端的人機介面來下達運動命令，配合影像處理進行物體顏色形狀辨識與井字遊戲，經由實驗結果驗證本論文所設計的系統晶片之有效性與正確性。

This thesis presents a SOPC-based servo motion control technique for the robot manipulator system. The system adopts MATLAB to perform image processing functions, such as the transformation of the color space, morphological operation, data classification of the object, the shape recognition and endpoint detection. For the servo motion control of the robotic system, it consists of two controller modules. The first one control module is consisted of quadrature encoder pulse circuits, limit switches detection, generation of pulse width modulation ,and point-to- point motion trajectory generator. Then, control signals are sent via FPGA to drive circuits for controlling each motor. The other module which includes a user interface and calculation of inverse kinematics, which is implemented via the NIOS II.

Finally, user can send commands via PC to perforem the shape recognition, data classification of the object’s color, and play tic-tac-toe games on the basis of image processing. The experimental results have demonstrated the effectiveness and validity of the proposed FPGA system applied on the servo motion control of the robot manipulator system.

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