面對高風險且變化莫測的海洋，派遣潛水員下海探索是不安全的行為，因此透過無人水下載具(Unmanned Underwater Vehicles, UUV)搭配水下機械手臂取代潛水員，將更有利於完成水下作業。本研究致力於開發一套小型高靈活度的無人水下機械手臂系統，同時運用水下影像辨識系統追蹤目標物的軌跡，將可執行目標物抓取回收工作。
本研究之水下機械手臂運用SolidWorks 3D繪圖軟體設計機構及相關零配件，並利用3D列印技術製作部件，以及使用多種防水技巧完成組裝。此外，更透過Matlab Robotic Toolbox建立虛擬模型，模擬手臂在空間中運動的位置。
本研究之水下多軸機械手臂，經由手臂的正運動學計算座標位置，並運用手臂逆運動學推算機械手臂各關節的角度。同時，透過條件篩選出符合手臂的運動姿態，讓手臂終端達到想要的目標位置。在控制方面使用LabVIEW軟體編寫人機介面，透過陀螺儀量測機械手臂的角度誤差回授給控制器。其中，分别以開迴路控制器、前饋PID控制及增益調整控制器(Gain-Scheduled PID Controller, GSPID)調控機械手臂的伺服馬達，並利用陀螺儀量測結果比較三種不同控制器之手臂空間位置的誤差結果，得知GSPID控制器確實相對開迴路控制及前饋PID具有較高的精確度。本研究運用現有水下機械手臂控制理論，透過模擬與實際運作的過程，修正水下機械手臂運動控制器，應用在水下靜態、動態目標物的抓取。

In the face of high-risk and unpredictable ocean conditions, sending divers for underwater exploration is impractical. This research aims to develop a small and highly nimble underwater manipulator system. Additionally, an underwater Vision Sensing System was used to distinguish the target's trajectory through cameras and perform target grabs and retrieval work using unmanned underwater manipulators. The underwater multi-axis manipulators in this study used spatial coordinate transformation to calculate the forward and inverse kinematics of the manipulators. In addition, the appropriate movement posture that matches the manipulators was selected through condition filters, enabling the manipulators to achieve the desired target position. In terms of control, LabVIEW, a graphical programming platform, was used to design the user interface, and the gyroscope measured the angle error of the manipulators and fed it back to the controllers. Three types of servo motor controllers are tested in this research: an open-loop controller, a feedforward proportional-integral-derivative (PID) controller, and a Gain-Scheduled PID controller. The gyroscopic measurement results showed that using a Gain-Scheduled PID Controller provides higher accuracy than the other controller. This study applies existing underwater manipulator control theories to develop and modify the motion-controlling system through simulation and actual operation. The contribution of this research will expand the application of underwater exploration in both academic and industrial fields.

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