微型工廠主要包含加工組裝系統、材料進給系統與物件傳輸系統三大部份，其中伺服定位控制為此三大系統之核心技術。本文中首先介紹一些常用於邊緣偵測、影像分割與影像形態學的方法，與離散小波轉換於影像壓縮與過濾雜訊時的應用，接下來描述本文的視覺系統架構，並以多重子區域邊緣統計法作為微工廠中影像伺服定位控制的技術，最後本文使用「光機電系統控制實驗室」歷年來研究之微夾持器，發展以DSP為運算處理器的PC-based 微物件自動化微操縱之影像伺服定位控制應用，其中本實驗用於物件傳輸系統的微夾持器為一使用PU為材料，大小為669×546×100μm^3，且以壓電致動器驅動的撓性微夾持器，而可夾持的微物件大小為直徑約30~80μm之細長圓柱，並增加了置物平台的運動自由度以完成物件進給系統的功能。最後本研究成功地完成微工廠中直徑50μm的微物件之自動化輸送、定位、搬運與傳輸。

The micro factory is composed of three systems. These systems are manufacture and assembling system, the material supply system and the object transport system, and the servo position control is the central technique of these systems. In this thesis, at first I will introduce some general methods for image processing, it include image edge detection, image segmentation, Morphological image processing and the applications of digital wavelet transform about image compression and noise filtering. Next, I will describe the structure of visual system and utilize regional edge statistics algorithm with multiple sub-domain to be an important technique of visual servo position control in the micro factory. Finally, the micro-compliant gripper developed by “Opto-Mechatronic System Control Laboratory” is utilized to develop a PC-based visual servo system with digital signal processor (DSP) and applied to automatic micromanipulation of object. In the experiment, the tool of object transport system is utilizing a piezo-drived compliant micro gripper with size of 669×546×100μm3 and can grasp the thin cylinder with diameter 30~80μm; and further, to increase the DOF of the object stage to accomplish the material supply system. Finally, The research achieved to supply, position, carry and transport the object with diameter 50μm automatically in micro factory.

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