本論文旨在應用FPGA實現結合雙眼影像視覺與機械臂的影像伺服追蹤控制。本FPGA系統分為三個模組，第一個模組為影像處理模組；第二個模組為控制機械臂各軸馬達位置控制的伺服控制模組；以及第三個模組為上層的系統控制模組。前兩模組皆為利用硬體方式實現，設計程式為Verilog語言。系統控制模組為在FPGA環境下產生NIOS II微處理器，以C語言軟體程式的方式實現。此三個模組皆在單一顆FPGA晶片下實現，首先由兩顆影像感測器感測到目標物經由影像處理模組將其特徵檢出，然後經由系統控制模組利用雙眼視覺演算法將影像空間座標轉換成系統空間的三維座標，再將此座標經由機械臂反運動學運算及經由動作決策後，最後利用伺服控制模組來控制各軸馬達所需的旋轉量以完成機械臂三維影像伺服追蹤控制。

The thesis aims to utilize a FPGA chip for the implementation of the stereo vision and the 3D visual servo tracking control of a robot manipulator. The FPGA system described herein includes three modules: one is the image processing module, another is the servo position control module for controlling the robot manipulator with six axes,and the third module is the upper system control module. The first and second modules are realized on the hardware digital logic circuit programed by the Verilog hardware description language (HDL),and the system control module is executed in the FPGA-based embedded NIOS II within the same FPGA chip and realized using C programming language. In additions, the three modules are implemented based on the same FPGA chip. First, two CMOS image sensors are used to detect the target motion and then obtain its characteristics through the image processing algorithms. Next, the system control module converts image coordinate into 3D coordinate in the world frame by means of the stereo vision algorithms. Hence, after the path planning and the calculation of the inverse kinematics of the robot manipulator, the servo control module manipulates the rotation angles of each axis to desired ones such that 3D visual servo tracking control of the robot manipulator is achieved.

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