隨著時間的推移，現代人傳遞訊息的方式日新月異，從過去的手寫書信到如今可以通過智慧型手機和電腦傳遞訊息。科技的進步給現代人帶來了許多便利。然而，在這樣的背景下，代表中華民族的一大文化瑰寶—書法藝術，卻日漸式微。隨著科技的發展，了解書法和懂得書寫書法的人越來越少，新一代人也越來越少願意承接這項藝術。如果人文藝術能夠與現代科技相結合，對於傳統藝術的保留與傳承必定會產生正面的影響。近年來，開始有學者將書法與機器人相結合，創造出了“書法機器人”概念。在機器人書寫之前，必須對書法字圖像進行相關影像處理。本論文將探討如何透過書法字的外型來拆解筆畫，利用骨架提取算法獲取筆畫的平面路徑，並通過筆畫寬度來模擬下筆深度，以取得每個筆畫三維路徑。影像處理的最後一步則是利用每個筆畫的起點與終點的平面位置來比較並排列出正確的筆順。最後，透過機器人操作系統（ROS）整合影像處理節點和六軸機械手臂的控制節點進行書法字的書寫，最終實現模仿實際書寫的書法字。

Over time, the ways in which modern people transmit messages have evolved rapidly, from handwritten letters in the past to using smartphones and computers today. Technological advancements have brought numerous conveniences to contemporary life, causing traditional art forms like calligraphy to gradually fade from daily routines. Consequently, the number of people who understand and master calligraphy is diminishing. This phenomenon not only represents a significant loss to the art of calligraphy but also poses a challenge to the inheritance of Chinese culture. To integrate technology with tradition, the concept of a calligraphy robot has emerged. This paper employs image processing techniques to extract writing paths and uses Robot Operating System (ROS) to integrate the entire system and control a robotic arm to perform calligraphy writing.

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