本研究旨在開發出一套應用工業型六軸機械手臂進行塗膠動作的鞋底自動黏著系統，其技術包含三大區塊；分析鞋子模型並定義塗膠軌跡、利用影像辨識系統判定物件位於工作空間中位置和推導反向運動學使機械手臂能根據以上資料自動進行塗膠，讓未來的鞋底塗膠動作可得以在此先進系統下加工。
此系統的使用策略為，第一、分析鞋子模型方面，利用STL檔案結構提供一序列的面資料，每面以一個單位法向量及三個頂點座標來表示，參考以上資料定義出鞋子輪廓的位置；第二、影像辨識系統採用Kinect感測器，先利用感測器所擷取的場景深度資訊濾除鞋子可能位於工作空間中的所有影像以節省分析時間，接著搜索鞋子輪廓並取得其角度及中心位置；第三、結合以上所得的資訊經過反向運動學計算得到機械手臂之角度控制命令，使得機械手臂得以循著鞋底邊緣進行模擬塗膠的動作。
經過實驗證實，快速鞋底黏著系統能夠成功導引機械手臂對鞋子完成指定路徑塗抹。

This study aims to develop an automatic adhesive system of six-axis industrial manipulator to glue shoe soles. The technology includes three sections: analyzing the models of the sole and defining the tracks of gluing, using the image-based recognition system to determine the position of the sole in the working space, and deriving the inverse kinematics allowing the manipulator to moving along the gluing trajectory automatically.
The system is implemented with three strategies. The first is that the model analysis of the soles, the STL file structure, offers a number of surface information, each with a unit normal vector and three vertex coordinates. All above information defines the profile of soles. The second strategy is to use Kinect sensor on the image recognition system in order to reduce analysis time. The sensor captures scene depth information to filter all out but the image for sole, and then searches the profiles of the sole to determine the orientation and the center location. The third strategy is to feed all information so as to find robot coordinates. Finally, based on the inverse kinematics calculates the joint angles of the manipulator and the manipulator can track the edge of the moving sole and implement the gluing action.
The experiments verify that the sole tracking and gluing system can be successfully operated for gluing applications.

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