本研究整合 PC-Based 使用者操作介面與 FPGA 機械手臂控制器，方便使用
者在使用者操作介面上以書寫中文字方式，引導機械手臂進行中文字之書法書
寫。
本研究以 PC-Based 為核心，設計具手寫板功能之使用者操作介面，使用
OCR 技術進行手寫中文字辨識，並依據標準正規楷書圖片，參照書法經驗法則
自創永字八法軌跡規劃，將手寫中文字轉換成適用於機械手臂書寫之書法筆畫
及筆順，再透過非同步收發傳輸器(UART)將筆畫及筆順資訊傳送給機械手臂，
進行中文字之楷書書寫。
機械手臂則是以 ALTERA Nios II Embedded Development Kit（以下簡稱
Nios II 開發板）為核心，控制五軸機械手臂之運動，在 Nios II 發展板中以數
位硬體電路實現訊號輸入與輸出之功能，數位控制訊號由 Nios II 發展板送至
自製直流馬達驅動電路以驅動馬達。數位電路中包括五組光學編碼器偵測、四
倍頻寬解碼電路、極限開關訊號偵測、五組脈波寬度調變訊號輸出、RS232 通
訊結構、SDRAM 控制模組等等。軟體部分則是在 Nios II 整合開發環境介面
編寫系統之使用者操作介面，編寫正、反運動學、模糊滑動控制法則、軌跡規
劃等應用。

In this thesis, a five degrees of freedom industrial robot arm is integrated with
PC-Based user interface as a calligraphy robotic system. It’s convenient for the user to
guide the robotic arm to write Chinese character based on user interface input.
A user interface is designed with handwriting function and OCR technology is
employed to identify handwritten Chinese characters. Based on the standard regular
script picture, and the calligraphy experience rule, the eight principles of Yong
trajectory plan were proposed to, convert the handwritten Chinese character into
calligraphy strokes coordinate and stroke order for robotic end effector motion
trajectory. The strokes and stroke information are transmitted to the robotic arm
controller through the non-synchronous transceiver (UART) for monitoring the robot
arm to write the Chinese character.
The Altera FPGA was chosen as the robotic arm control architecture. Its main
function is to receive the position and posture data from PC and monitor the robotic
arm motion. The Nios II development board uses digital hardware circuits to
implement signal acquisition and output control function, including decoder, filter,
PWM, I2C, and SDRAM controller etc. User interface, kinematics, inverse
kinematics, FSMC and trajectory planning were written as software program in Nios
II.

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