本論文主要利用影像擷取來控制機械臂的運動要求，硬體上以分散式運動控制器來實現影像伺服多軸機械臂的整合應用，其通訊架構採Canbus架構；軟體開發則採用MATLAB實現影像彩色空間轉換、形態學運算、物體顏色辨識分類、文字端點偵測、反運動學、點到點S-curve軌跡規劃以及GUI圖形化使用者介面等。
物體顏色辨識的方法從形態學的觀點，先提取物體特徵，然後再進一步用平均顏色找出相對應的位置。文字端點偵測則是利用細線化找出文字骨架，再用鏈碼關係標示出頂點與交叉點。此兩項功能皆採自主性運作，無需經過人為教導，其辨識結果後續再經過正反運動學驗證，並且給予適當的S-curve速度軌跡規劃，以保持機械臂運動過程的平順性。

This thesis aims to utilize image extraction to control the manipulators to meet the requirements for motion, the hardware adopts distributed motion controllers to realize visual servo with multiple manipulators of integrated applications. The communication system adopts Canbus structure, the main control program adopts MATLAB to realize the image colored space transform, morphological operation, classification of the object color recognition, text endpoint detection, verification of direct and inverse kinematics, s-curve trajectory planning and GUI graphic user interface, etc.
The recognition method for the object color is retrieved from the morphological point of view. The first step is to extract the characteristic of the object, and then find out the corresponding position with average color. The detection of the text endpoint is to utilize parallel thinning to find out the skeleton of the text, and mark vertex and crosspoint with relations of chain codes. In order to keep the smoothness of motion, these two functions must pass through verification of direct and inverse kinematics, and be given the appropriate s-curve speed trajectory planning, for motion control of the manipulator.

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