本研究整合可程式化邏輯閘陣列(FPGA)機器人運動控制系統與PC-Based立體視覺辨識系統，達到視覺導引機器人平行運算及控制的目標。透過Bumblebee影像擷取系統取得影像資訊，再由嵌入式工業電腦搭配OpenCV函式庫進行影像處理，從中提取目標點與目標物角度之影像空間三維資訊。透過座標投影的方式將所取得之影像空間座標投影至機器人手臂運動座標與全向輪移動式平台之空間座標，將此資訊透過通用非同步收發傳輸器(UART)傳至FPGA機器人運動控制系統，並以模糊滑動模式控制器(FSMC)進行運動控制，達成影像導引之運動控制。其中運動控制包含機器人手臂與影像系統的手眼協調控制以及平台與目標物之位置角度定位控制。最後將以此機器人系統完成手持插頭插入電源插座之任務。

In this thesis, Field Programmable Gate Array(FPGA) and embedded industrial controller are composed, which is used to control the robot and build a 3D-visual identity system respectively. In order to known the position of the target, Bumblebee and embedded industrial computer are used. Bumblebee is used to capture the image of the target, then processing the image by using the function in OpenCV. Since we get the information of the target in the image, we use coordinate projection to transfer the image coordinate to global coordinate. This data will be sent to robot control system by UART. According to this data, we can use the FSMC to control the robot, including hand-eye coordination control and position control. Finally, we make the robot to plug in to verify the system.

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