為了增進老年人或身心障礙人士的醫療照顧，近年來自動化居家照顧系統已成為重點研究領域之一。在居家環境中，機器人可能因為傢俱擺放所形成的多死巷地形而無法移動至目標區域，而藥物在藥櫃中的實際位置可能在未知位置。本論文提出居家照顧機器人之藥物傳遞系統來解決上述兩項問題。當發生醫療事件時，居家健康監測系統會啟動居家照顧機器人之藥物傳遞系統。一開始，系統會初始化重要參數並確認目標是否在PTZ攝影機的視野內。 如果目標在視野內，則啟動抓取系統，否則啟動移動系統。移動系統使用模糊控制器及真假目標轉換策略。手臂系統使用基於影像之影像伺服比例控制器。移動系統及手臂系統皆在數個實際場景中驗證。移動系統可以帶領機器人離開多死巷地形並到達目標區域。手臂系統證實可將影像特徵誤差縮減至最小值。所以，移動系統可解決多死巷地形，而手臂系統可以取得目標藥物。

In order to apply medical care for elder or handicapped people, the automatic home care system becomes an important research area in recent years.
In home environment, the furniture might form a multiple-dead-end situation to block robot moves to target area and the medicine’s position in the lock might be unknown. This thesis proposed a medicine delivery system of home care robot.
When a medical event occurs, the home care monitoring system sends a task to home care robot. The system initializes all required parameters, and then checks whether the target is in the PTZ view or not. If target is in the view, the system activates the manipulation system, otherwise activates the mobile system. The mobile system uses Fuzzy logic controller with target switching strategy. The manipulation system uses image-based visual servo controller with P control law.
The mobile system and the manipulation system are tested through several real scenario experiments. The mobile system can guide robot out of dead-end situation and reach target area. The manipulation system is verified that the feature error can reduce to minima.
The multiple-dead-end situation can be solved by mobile system and the target can be grabbed by manipulation system.

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