機器人的發展中，為了使其更貼近人類的行為，因此需要在機器人上裝設各式感測器，讓其接收現實世界的各項資訊，並做出更相像於人類的動作與反應。其中，隨著影像辨識技術的發展越來越蓬勃，此技術開始廣泛的被應用於機器人上，使其具有如人類一般的眼睛，此稱為機械視覺。
本論文旨在於發展一個基於數位信號處理器（Digital Signal Processor）的嵌入式影像擷取系統，並使用分散式控制的作法，與機械手臂平台做配合應用。在硬體方面，本系統設計以CMOS影像感測器、圖框緩衝器、SPI to I2C橋接器與UART傳輸模組組成之DSP影像擷取擴充子板，其中以TMS320C6416 DSP為核心之DSK（DSP Starter Kit）開發板作為影像處理核心平台。在軟體方面，有擷取影像的時序控制、影像處理技術與DSP和電腦溝通程式，以此儲存完整影像資料，並做影像辨識，再將辨識結果的訊息傳送給電腦做下一步處理。最後，將此系統與二軸機械手臂平台結合，使用分散式控制的觀念，DSP做影像辨識追蹤球滾動的位置，電腦控制二軸機械手臂將球來回打向壁面。

A robot in real world needs to obtain environment information for its actions and response. Therefore, a robot generally equips specific sensors to acquire environment information. In particular, the vision system is able to capture environment images, act as the robot's eye, and is able applied for different application.
The objective of this thesis is to develop a DSP-based embedded imaging system for a two-link robot arm. The implementation of the system consists of hardware implementation and software implementation. For the hardware implementation, the embedded imaging system is composed of a TMS320C6416 DSK board as the image process platform and a custom plug-in image acquisition daughter card which contains a CMOS image sensor OV7620, a frame buffer and SPI to I2C bridge. The software procedure contains the timing control, interfacing between system components, and image preprocessing to improve the image quality. The imaging system is integrated with a two-link robot arm. The DSP-based imaging system of the distributed control system uses to tracking the position of a rolling ball, then PC-based two-link robot arm hits the ball back to the wall.

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