過去影像伺服系統多在個人電腦基礎下開發，造成系統成本過高、設備體積龐大、效能低且不適合獨立運作，然而隨著科技進步，嵌入式數位訊號處理器(DSP: Digital Signal Processor)的功能比以往更加強大，在複雜運算上，提高準確度和效能，能滿足大部分系統在「即時性」的需求。因此，可以取代個人電腦為主的影像伺服系統。
本論文利用TMS320DM648及DMS320F2812分別作為影像處理平台及機械手臂控制核心。先以DM648進行視覺系統計算移動物在空間中位置資訊及預測值，再由F2812透過UART接收控制命令，以反向運動學求得機械手臂轉動所需角度，進而準確做出相對反應。

There are a lot of image servo systems in PC-based development, affecting enormous system cost, low efficiency, not appropriate independent operation and huge size hardware. In recent years, advance development in technology increase processing speed of Digital Signal Processor (DSP) and expands its functionality. In embedded system, DSP has high accuracy and high performance processing in complex arithmetic. Therefore, it could become the most system’s requirement for real-time capability and replace PC-based in visual servo system.
In this study, TMS320DM648 and DMS320F2812 are utilized in the system. Principally, DM648 as a vision system can calculate position information of moving object and predict its value. F2812 as robot control core works based on the following sequence processes: Initially, the control commands are sent by UART to the robot control kernel. Secondly, rotation angle is got by using the inverse kinematics, and finally, the target is responded by the robot arm, i.e. hitting the target.

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