中文摘要
自走型機器人使用於晶圓廠生產線上的晶圓卡匣、晶圓盒供運送及上下料，其主要是由移動型平台、機械手臂與視覺系統所組成，本研究提出的彈性搬運系統不只節省人力支出，在工件的運送及上下料提供更高的可靠度與性能。
自走型機器人於執行取放工件的任務中，由於導引方式的限制，存在著定位精度之誤差，因此應用視覺系統，來導引機械手臂到達指定位置，執行工件取放工作。本研究進一步針對“眼在手”之視覺系統，提出以卡氏座標為基礎的“看而後動”之工作編碼的控制法則，從所獲得的影像中搜尋工件的轉角和質心，並利用視覺理論求得該工件相對於目前端接器的位置，進而控制端接器精確定位到目標姿態並將工件夾取，其中應用到的技術包括：影像加強、邊界偵測、轉角和質心偵測、攝影機參數校正方法與攝影機到端接器方位估測理論、變焦鏡頭運用，並應用任務編碼與系統控制等等。
在論文最後，進行實驗來驗證所提出的理論與策略，實驗內容包括將工件放置在不同位置與方位並傾斜某角度，判斷是否可以快速得到工件的三維空間資訊，並精確抓取工件。

Abstract
Mobile robots frequently replace humans in handling and transporting wafer carriers in semiconductor production lines. The constructed mobile robot is primarily composed of a mobile base, a robot manipulator, and a visual system. This flexible material transfer system can save the expense of human resources, as well as provide reliable and efficient transportation and handling.
During pick-and-place operations between a predefined station and the mobile robot, position and orientation errors of the mobile base are inevitably caused by the guidance control system. Thus, this study employs the eye-in-hand vision system to provide visual information for controlling the manipulator of the mobile robot to grasp accurately stationary material. This work further presents a position-based look-and-move, task encoding control strategy for eye-in-hand vision architecture, that maintains all target features in the camera’s field of view throughout the visual guiding. Moreover, the manipulator can quickly approach the material and precisely position the end-effector in the desired pose. Numerous techniques are required for implementing such a task, including image enhancement, edge detection, corner and centroid detection, camera model calibration method, robotic hand/eye calibration method, using a camera with controlled zoom and focus, and task encoding scheme.
Finally, these technologies are experimentally applied to realize a manipulator that can quickly approach a target object and precisely position its end-effector in the desired relative pose to the object, independently of where the target object is located on a station. Specific experimental demonstrations include grasping the target object with different locations on the station and grasping the target object tilted by different angles to the station.

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