本文主要應用SOPC硬體介面架構具立體視覺導引之機械手臂運動控制系統，並且實現以立體視覺感測輔助之機械手臂與玩家做互動遊戲之手中移動目標物追蹤擷取。傳統的視覺伺服使用單眼視覺，無法得知目標物與攝影機的三維距離，本文採用雙眼立體視覺架構，以求出目標物與攝影機間之三維距離，再將之歸劃為機械手臂之運動路徑，由各軸一起運動，以到達指定目標。機械手臂所使用之控制法則為模糊滑動模式控制器，系統晶片採用美商ALTERA公司生產的Statrix II EP2S60F672C5ES現場可程式邏輯閘陣列（FPGA），CMOS影像感測器採用國內PIXART公司所生產的PAS106BCB283彩色影像感測器，此感測器解析度為356×292。擷取目標物過程先經由雙CMOS攝影機擷取成對影像(stereo image pair)至Nios II發展板，經過影像處理找出符合目標物特徵的部份，再藉由立體視覺演算法計算目標物與攝影機之間的三維距離，最後由Nios II發展板控制機械手臂追蹤並抓取目標物，實驗結果顯示機械手臂能達成即時追蹤目標物並抓取之功能。

A stereo vision servo robotic system using SOPC hardware technology is developed in this thesis. The Nios II developing board is adopted on the control structure with ALTERA Statrix II EP2S60F672C5ES FPGA chip. The CMOS color image sensor PIXART PAS106BCB283 with 356×292 pixels is adopted. First, on images acquired with two CMOS cameras connected to the Nios II development board, and then the feature of this image pair can be extracted using image processing technique. Secondly, the 3-D position information between the target object and stereo vision system can be calculated by stereo vision algorithm. Thirdly, the relation motion between the robotic end-effector and the target object can be planned to guide robot arm to catch the object. The fuzzy sliding mode control algorithm is employed on each joint doing motion control. Some tracking-and-catch games are planned to implement this stereo vision servo system on the interaction games between player and robot in 3D space. The experiments show that this stereo vision servo system can track and catch a moving target in 3D space and execute some interaction function with player under the limit SOPC computation limit.

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