本論文研究將擴增實境（Augmented Reality）技術應用於基於視覺的微裝配作業，首先利用CAD 軟體繪製虛擬微組裝機器，並於虛擬環境中設置與真實視覺系統相同之虛擬攝影機，模擬其擷取到之影像，接著透過影像目標追蹤演算法比對虛擬影像與CCD 擷取影像中的元件點特徵誤差，並以此誤差校正虛擬環境的攝影機參數與元件位置，使虛擬影像與真實影像中相同元件之特徵點位置重疊，並在虛擬影像中還原真實影像中被遮蔽之元件特徵或是不清晰的邊緣特徵，再利用虛擬影像與真實影像產生擴增實境之影像，藉由影像上擴增的資訊開發簡單化的物件與組合件孔洞定位演算法，以提升微裝配作業效率，其中微組裝系統之平台移動方式使用視覺伺服控制，最後研究完成自動化連續組裝兩個物件，其中物件為直徑80μm、長度1~1.3mm 之圓柱形物件，組合件之孔洞直徑為100μm，組裝間隙比為0.2。

In this thesis, Augmented Reality technology is applied to vision-based microassembly operation. At first, CAD software is employed to draw a virtual micro-assembly machine. Virtual cameras are set as the same real visual system in a virtual environment to simulate the captured image. Then, the representative feature points of virtual image and CCD image will be obtained and compared through image tracking algorithm. The errors of feature points are utilized to correct the camera parameters and component location in the virtual environment such that the feature points of the virtual image and the real image will overlap and obscured features or blurred edges in real image can be restored in virtual image. By utilizing image information of augmented reality, a simple algorithm of localizing micropegs and matting hole is developed to improve the efficiency in performing microassembly operation. Finally, the research achieves an automatic operation of two consecutive peg-in-hole assembly. The operation is with cylindrical pegs of diameter 80 μm, length 1~1.3mm, assembled to a hole of diameter 100 μm, i.e., clearance ratio of 0.2.

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