本論文旨在利用腕關節型機器人結合立體影像視覺系統，建構一個以視覺為基礎的拍擊系統。選用腕關節型機器人的原因在於它的自由度與構造相似於人類的手腕，運動上有高度的靈巧性，由於對稱且並聯式的架構，使其具有較高的負載承受能力。立體影像視覺系統中，利用兩個影像感測器模擬人類雙眼，依據拋體的色彩資訊進行目標物擷取，利用卡門濾波器針對拋體的軌跡進行估測，並利用質點拋體運動學對球體落點進行預測，以供機器人決定拍擊球體的時機、位置、速度與姿態。本論文透過模擬分析並且建構硬體實驗平台進行實作，驗證整體系統之效能，最後，影像視覺系統確實可以將落點資訊估算出來，並由腕關節型機器人完成拍擊的動作，且能持續拍擊球回彈至固定高度。

The main objective of this thesis is to design and implement a paddle juggling system using a stereo vision system and a carpal wrist robot. The carpal wrist robot is chosen because of its superior dexterity and similarity to the human wrist and it has three degree of freedom. As a result of its symmetric parallel architecture, it has a large payload capacity. In the stereo vision system, two image sensors are used to provide stereo vision. The stereo vision system is able to track the ball according to its color information. A Kalman filter is then used to estimate the dynamics of the ball and predict its future trajectory. Based on the dynamics of the projectile estimated by Kalman filter, the carpal wrist robot can determine the timing, velocity, position and posture for paddling the ball. Through simulation and experiments, this thesis has demonstrated the effectiveness of the designed system.

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