近年來，光纖傳輸已經很廣泛地應用於長距離的通訊上，這是由於光纖具有低成本、高頻寬的優點。然而，為了要達到高品質的傳輸，發展一個高精度的對位與組裝技術是不可被忽略的重點。因此，本論文利用壓電致動器(PEA)搭配機器視覺發展一光纖微定位平台，本論文所發展之對位技術，主要可分為兩個部份。首先為伺服控制部份，因壓電致動器為一具有磁滯現象之非線性元件，故本論文提出以B-spline近似模型為基礎之前饋反磁滯控制器，以消除其磁滯現象。此外，並藉由積分可變結構控制器改善其因不確定性之因素所產生的誤差量，實驗結果顯示微定位平台之步階響應可滿足設計之規格。第二為視覺方面，一個視覺回授訊號的準確與否與計算時間長短關係到光纖對位之性能，本論文提出一結合視覺與位移回授之新型視覺伺服控制架構與一個處理時間較短且較為準確之影像處理演算法，並且使用線性插值器產生一較平滑之視覺命令，再透過卡爾曼濾波器進行位置預測改善視覺落後的現象。實驗結果顯示本論文所提之方法效果良好。

Recently, fiber optic transmission has become one of the most popular choices for long-distance fixed communication links due to attractive features such as low cost and high bandwidth. However, to maintain high quality transmission, the development of a high precision alignment technique for optical fiber assembly cannot be overlooked. Therefore, this research focuses on developing a vision based optical fiber alignment platform that is actuated by a piezoelectricity device. The technique developed in this project can be divided into two parts. The first part is “servo control”. Since the piezoelectricity actuated device (PEA) is a nonlinear element with hysteresis property, this study proposes a feedforward inverse hysteresis controller based on a B-spline approximation model to eliminate the effects due to hysteresis. In addition, the integral variable structure controller (IVSC) is also adopted to reduce the error due to noise/parameter uncertainty. Experimental results indicate that the obtained step response can satisfy the design specifications. The second part is “vision”. The accuracy of the visual feedback signal will affect the performance of optical fiber alignment. In order to deal with this difficulty, a new visual servoing structure that combines the use of vision and position feedback and an image processing algorithm which requires less processing time and is more accurate are developed in this study. In addition, linear interpolation on vision command is performed, and a Kalman filter is also used to predict the visual command at the next time instant to cope with the visual latency problem. Experimental results show that the proposed approach exhibits satisfactory performance.

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