本文結合2D氣壓手臂與影像視覺技術，經由手臂末端的CCD Camera，進行目標物的軌跡追蹤之控制。利用撓性氣壓缸與CCD所組成的氣壓手臂作為本實驗之受控系統，透過CCD擷取目標物的影像資訊，經由影像處理和機器人學的座標轉換，計算二維影像中的目標位置，再藉由Encoder回授系統之控制器設計，導引氣壓手臂進行平面影像的軌跡追蹤控制。本文將探討自組織滑動模糊控制器對於影像視覺之2D氣壓手臂系統，在平面影像的定位以及不同移動速度的軌跡，氣壓手臂的控制性能與追蹤效果。

This thesis is mainly to combine 2D pneumatic arm and a CCD, which is stored in the edge of the arm. This system is applied for tracking control of the object. The arm is setup by pneumatic muscles. It can capture the 2D location of an object via the image processing and coordinate transformation. Then, the self-organizing sliding mode fuzzy controller is designed for the encoder feedback control and drive the pneumatic arm to perform trajectory tracking. From experiments, it tests and verifies the self-organizing sliding mode fuzzy controller for the vision based 2D pneumatic arm, through point-to-point and various speed tracking experiments, in order to evaluate the control performance.

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