本研究所發展的技術為機器手臂繪圖系統，此系統的目標是建立一套讓使用者在電腦視窗下畫圖，並且透過機器手臂實際將人在本平台上繪製的圖形完整畫出真實樣貌，在系統中使用B-Spline曲線擬合演算法完成圖形中曲線之建構，此方法用於建立曲線對於使用者而言在使用上非常便利且適合作為將來開發新繪圖機器人作曲線繪製的基礎。

The thesis proposes a drawing system of manipulator robot arm. The goal of this system is not only building up a set letting user drawing in the windows but also profiling people practically through the manipulator with this system platform. In this system, using B-Spline curve fit algorithm complete the curve drawing task in the graph. The system is very convenient for user operation. And, it’s suitable for being the future-developing.

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