本論文發展一影像伺服為基礎的追蹤系統。利用影像處理獲得目標物在影像中的資訊，並且利用立體視覺計算出目標物座標，並利用賈式矩陣控制機械手臂，用正向運動學結合得知手臂移動，且可利用正向運動學結果與影像結果得知控制賈式矩陣的誤差。本論文利用卡爾曼濾波器的特性來修正影像處理結果，藉此獲得更為準確的目標物位置。

This research proposes a tracking and grabbing system based on visual servoing. The system makes motion of manipulator robot arm more like the human motion. The control part uses the Jacobian to control the manipulator robot arm, so the manipulator robot will move to target quickly. Because the target is still moving, the position of target information from image processing is not current position. This research uses the Kalman filter to predict the target position. The Kalman filter will help us to get more correct information.

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