台灣為3C產業製造大國之一，然而近年來少子化問題日益嚴重，同時世界各國對於3C產品的需求不斷提昇，我國將會面臨越來越嚴峻的缺工問題，因此工業自動化議題再次受到重視。六軸關節型機械手臂是常使用的自動化機具之一，在許多應用中負責簡易的取放作業。如果能結合電腦視覺，則機械手臂將可執行彈性更高且更複雜的工作。有鑑於此，本論文採用基於影像之視覺伺服架構，將六軸機械手臂之伺服馬達驅動器設定在轉矩模式並在機械手臂末端效應器上裝設攝影機，進行特徵點拍攝。然而當伺服馬達驅動器設定在轉矩模式時，則機械手臂原本之內建控制器將無法使用。為克服此一問題，本論文自行開發機械手臂順逆向運動學演算法以及控制器。此外在實現基於影像之視覺伺服架構的過程中，會遇到最大的問題就是如何準確估測深度。針對此一問題，本論文開發出一套深度資訊估測演算法。實驗結果顯示本論文所開發之機械手臂順逆向運動學演算法以及深度資訊估測法確實可行。

Being the power house of the 3C industry around the world, Taiwan, is facing a serious low birth rate problem. Meanwhile, global demand for 3C products is higher and higher. As result, the problem of lack of worker will be getting worse. It is not surprising that the topic of industrial automation has once again become a hot issue. The 6-axis industrial manipulator is a servomechanism that is commonly used in many industrial applications to perform simple pick-and-place tasks. By equipping with computer vision, a 6-axis industrial manipulator can perform more flexible and complex tasks. Therefore, this thesis employs the image-based visual servoing structure, in which the drives of the servomotors of the 6-axis industrial manipulator are set to torque mode, and a camera mounted on the end effector is used to capture object features. However, when the drives of the servomotors are set to the torque mode, the built-in forward/inverse kinematics software and joint space controllers are no longer available. In order to cope with this difficulty, we develop our own forward/inverse kinematics software and joint space controllers in this thesis. In addition, when implementing the image-based visual servoing structure, one of the most crucial issues is to have accurate depth information. As a result, this thesis is aimed at developing an effective depth estimation algorithm. Experimental results verify the effectiveness of the forward/inverse kinematics software and joint space controllers. Experimental results also indicate that the proposed depth estimation algorithm is indeed feasible.

[1] Kreutz-Delgado, Kenneth, Mark Long, and Homayoun Seraji, "Kinematic analysis of 7-DOF manipulators," International Journal of Robotics Research, vol. 11, pp. 469-481, 1992.
[2] Elgazzar, Shadia, "Efficient kinematic transformations for the PUMA 560 robot," IEEE Transactions on Robotics and Automation, vol. 1, pp. 142-151, 1985.
[3] Corke, Peter I., and Brian Armstrong-Helouvry, "A search for consensus among model parameters reported for the PUMA 560 robot," IEEE Transactions on Robotics and Automation, vol. 2, pp. 1608–1613, 1994.
[4] Corke, Peter I., and Brian Armstrong-Hélouvry, "A meta-study of PUMA 560 dynamics: A critical appraisal of literature data," Robotica, vol. 13, pp. 253-258, 1995.
[5] 江修、江偉峰,"六軸機械手臂控制理論與應用," 機械工業雜誌, pp. 57-73, 2006.
[6] J. Hill and W. T. Park, "Real time control of a robot with a mobile camera," in Proc. of the 9th ISIR, 1979, pp. 233 -246.
[7] F. Chaumette, D. Kriegman, G. Hager, and A. Morse, "Potential problems of stability and convergence in image-based and position-based visual servoing," The Confluence of Vision and Control, LNCIS Series, vol. 237, pp.66-78,1998 :Springer Verlag.
[8] Chaumette, François, and Seth Hutchinson, "Visual servo control. I. Basic approaches," IEEE Transactions on Robotics and Automation, vol. 13, no. 4, pp. 82-90, 2006.
[9] Chaumette, François, and Seth Hutchinson, "Visual servo control, Part II: Advanced approaches," IEEE Transactions on Robotics and Automation, vol. 14, no. 1, pp. 109-118, 2007.
[10] M. W. Spong, S. Jutchinson, and M. Vidyasagar, Robot modeling and control, John Wiley & Sons, 2006.
[11] Standford open course, "Introduction to Robotics".
[12] Hutchinson, Seth, Gregory D. Hager, and Peter I. Corke, "A tutorial on visual servo control," IEEE Transactions on Robotics and Automation, vol. 12, no. 5, pp. 651-670, 1996.
[13]J.J.Craig, Introduction to Robotics: Mechanics and Control, Addison-Wesley, 1989.

[14] L. Sciavicco, B. Siciliano, Modeling and Control of Robot Manipulators, Springer Verlag, 1996.
[15] 張維哲, 基於視覺伺服之未知物體輪廓循跡控制研究, 碩士論文, 國立成功大學電機工程學系, 2013.
[16] http://wycwang.blogspot.tw/2012/10/camera-calibration-part-2-calibrati
on.html
[17] 蔡弘晉, 基於單應性矩陣之三維模型重建法應用於六軸關節型機器手臂, 碩士論文, 國立成功大學電機工程學系, 2014.
[18] Cucchiara, R., Grana, C., Piccardi, M., Prati, A., & Sirotti, S., "Improving shadow suppression in moving object detection with HSV color information." Intelligent Transportation Systems, pp. 334-339, Aug 2001.
[19] http://www.opencv.org.cn/opencvdoc/2.3.2/html/doc/tutorials/features2d
/trackingmotion/harris_detector/harris_detector.html
[20] http://docs.opencv.org/trunk/doc/py_tutorials/py_feature2d/py_shi_toma
si/py_shi_tomasi.html
[21] H. P. Moravec, Obstacle Avoidance and Navigation in the Real World by a Seeing Robot Rover, PhD thesis, Stanford University, 1980.
[22]J. Shi and C. Tomasi, "Good features to track," in Proc. of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1994, pp. 593 -600.
[23] http://docs.opencv.org/trunk/doc/py_tutorials/py_feature2d/py_shi_tom
asi/py_shi_tomasi.html
[24] 江宗錡, 六軸關節型機器手臂之手眼校正研究, 碩士論文, 國立成功大學電機工程學系, 2014.
[25] 鄭晏維, 六軸機器手臂之重力補償與平面避障研究, 碩士論文, 國立成功大學電機工程學系, 2014.
[26] http://zh.wikipedia.org/wiki/%E6%B5%B7%E4%BC%A6%E5%85%
AC%E5%BC%8F
[27] http://www.csie.ntnu.edu.tw/~violet/edu92-1/monitor.htm
[28] Rossl, Christian, Leif Kobbelt, and Hans-Peter Seidel. "Extraction of feature lines on triangulated surfaces using morphological operators," in Proc. of the AAAI Symposium on Smart Graphics, 2000.
[29] Melvin J. Maron, 祝華健翻譯, 數值分析 :由實用的觀點來探討, 儒林出版社, 1984.
[30] Tsai, Roger Y., and Reimar K. Lenz, "A new technique for fully autonomous and efficient 3D robotics hand/eye calibration," IEEE Transactions on Robotics and Automation, vol. 5, pp. 345-358, 1989.
[31] Malis, E., Chaumette, F. and Boudet, S, "2 1/2D visual servoing," IEEE Transactions on Robotics and Automation, vol. 15, pp. 238-250, 1999.
[32] F. Chaumette and E. Malis, "2 1/2-D visual servoing: A possible solution to improve image-based and position-based visual servoings," IEEE Transactions on Robotics and Automation, vol. 1, pp. 630-635, 2000.
[33] F. Janabi-Sharifi , L. Deng and W. Wilson, "Comparison of basic visual servoing methods," IEEE/ASME Transactions on Mechatronics, vol. 16, no. 5, pp. 967-983, 2011.
[34] N. Guenard, T. Hamel and R. Mahony, "A practical visual servo control for an unmanned aerial vehicle," IEEE Transactions on Robotics, vol. 24, pp. 331-340, 2008.
[35] Wenchao Gao, Wenyu Liang and Kok Kiong Tan, "Automated Tube Insertion on Tympanic Membrane based on Vision-Servo and Tactile Sensing," in Proc. of the 40th IECON, 2014.
[36] http://www.deltaww.com/news/pressDetail.aspx?secID=3&pID=1&typeI
D=6&itemID=4870&tid=0&hl=zh-TW
[37] http://www.digitimes.com.tw/tw/dt/n/shwnws.asp?CnlID=13&id=23275
9&ct=1
[38] http://www.zyc35.com/photos/201406/25/143941.html
[39] S. H. Lee, J. B. Song, "Acceleration Estimator for Low-Velocity and Low-Acceleration Regions Based on Encoder Position Data," IEEE/ASME Transactions on Mechatronics, Vol. 6, No. 1, pp. 58-64, 2001.
[40] 林宜賢, 曹學民, 簡培元, "適應性色彩影像增強方法之研究"
[41] F. Chaumette, S. Boukir, P. Bouthemy, and D. Juvin, "Structure from controlled motion,"IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 18, no. 5, pp. 492–504, May 1996.
[42] A. De Luca , G. Oriolo and P. R. Giordano, "Feature depth observation for image-based visual servoing: Theory and experiments," The International Journal of Robotics Research, vol. 27, no. 10, pp. 1093 -1116, 2008.
[43] Matthies, L.H., Kanade, T., and Szeliski, R., "Kalman filterbased algorithms for estimating depth from image sequences," International Journal of Computer Vision, vol. 3, pp. 209-236, 1989.
[44] Isaac Weiss , Manjit Ray, "Model-Based Recognition of 3D Objects from Single Images," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 23, no. 2, pp. 116-128, Feb 2001.
[45] Paul E. Debevec , Camillo J. Taylor , Jitendra Malik, "Modeling and rendering architecture from photographs: a hybrid geometry- and image-based approach," in Proc. of 23rd Computer graphics and interactive techniques, 1996, pp. 11-20,1996.