在現今科技產業日新月異的時代，機械手臂廣泛應用在工業自動化、微創手術、複雜且精密的產品生產、甚至替人類執行危險的任務，對人類的生活中帶來有極大的便利性，並且充滿著廣大的商機。
本論文研究之目的是設計擁有多個自由度的機械手臂搭配移動裝置，實現機械手臂能夠真正用在生活上的服務以及工作任務的執行。整個系統結合了影像處理技術，利用攝影機擷取到的影像來加以辨識後，將結果傳給控制器命令機械手臂執行相對應之動作。本研究主題並非是重覆執行同一件任務的傳統工業手臂，而是隨機判斷物體而執行任務，故必須額外推導順、逆向運動學用來處理物體在空間座標轉換到手臂轉軸角度的調配，產生運動軌跡並使用馬達致動器來進行物體夾取，以達到預先設定之任務，並且考慮到機械手臂展示時需要有優良的姿態協調去執行動作，讓機器人展示時更為生動活潑，祈使在人類未來的生活中，機械手臂的物體夾取系統能夠朝向更為複雜與高彈性的日常生活環境中。

Technology industry is changing in the current. Mechanical arm is widely used in industrial automation, minimally invasive surgery, complex and sophisticated products, even dangerous for the implementation of the tasks of human. Mechanical arm has brought great convenience in human life, and full of vast opportunities.
This paper presents the design of an automatic and intelligent mechanical arm with multiple degrees of freedom robot and mobile devices. Robots can really achieve in life with services and the implementation of tasks. The system combines the image processing technology. After the image which was captured by camera has been identified, the results passed to the controller and command corresponding to the mechanical arm movements. This topic is not a repeat of the implementation of the task with a traditional industrial arm, but random objects and tasks to judge. Therefore, the additional deduction must be smooth, inverse kinematics is used to handed the object space coordination in the transition to the deployment of the arm shaft angle, and trajectories generated using the motor actuator to carry out an object gripping. Moreover, taking into account the mechanical arm displayed a good attitude required to perform coordinated action. In the future, folder object robot system can take towards more complex and highly flexible environment in daily life.

[1] J. F. Engelberger, “Robotics in practice, ” IFS Publications Ltd., 1980.
[2] A. Ernst, “A Computer-Operated Mechanical Hand Sc. D. Thesis,” Massachusetts Institute of Technology, 1961.
[3] L. G. Roberts, “Homogeneous Matrix Representation and Manipulation of N-Dimenional Constructs,” Lincoln Laboratory, Massachusetts Institute of Technology, Document No. MS1045, 1965.
[4] W. M. Wichman, “The Use of Optical Feedback in Compuer Control of an Arm,” Stanford Artificial Intelligence Laboratory, Stanford University, Document No. AIM 56, 1967..
[5] L. D. Pieper, “The Kinematics of Manipulators Under Computer Control,” Stanford Artificial Intelligence Laboratory, Stanford University, Document No. AIM 72, 1968.
[6] Y. Shirai, H. Inoue, “Guiding a robot by visual feedback in assembling tasks,” Pattern Recognition, pp. 99-108, 1973.
[7] M. Galick, “Control-based solution to inverse kinematics for mobile manipulators using penalty functions,” Journal of Intelligent and Robotic Systems , pp.213-238, 2005.
[8] W. Dong, “On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty,” Journal of IFAC, pp.1475-1484, 2002.
[9] A. Mstsikis, F. Schulte, et al., “A behaviour coordination manager for a mobile manipulator,” IEEE/RST Intelligent Robots and Systems, pp.174-181, 2003.
[10] D. Xu, H. Hu, et al., “Motion planning for a mobile manipulator with redundant DOFs,” Journal of Information Technology, pp.476-480, 2005.
[11] Y. S. Kwoh, J. Hou, et al, “A Robot with Improved Absolute Positioning Accuracy for CT Guided Stereotactic Brain Surgery, ”IEEE Biomedical Engineering, pp. 153-160, 1988.
[12] PJ. Besl, N.D. McKey, “A method for registration of 3-D shapes,” IEEE Pattern Analysis and Machine Intelligence, pp. 239-256, 1992.
[13] J. Peirs, et al, “A miniature manipulator for integration in a self-propelling endoscope,” Sensors and Actuators, pp. 343-349, 2001.
[14] M. Galick, “Control-based solution to inverse kinematics for mobile manipulators using penalty functions,” Journal of Intelligent and Robotic Systems, pp. 213-238, 2005.
[15] S. U. Ryu, et al , “Digital Image Processing 2/e,” Robot and Human interactive Communication, pp. 224-227, 2007.
[16] W. M. Wichman, “The Use of Optical Feedback in Compuer Control of an Arm,” Stanford Artificial Intelligence Laboratory, Stanford University, Document No. AIM 56, 1967..
[17] 繆紹綱 編著，「數位影像處理 活用-Matlab」，全華科技圖書股份有限公司，中華民國92年。
[18] Y. Suenaga, “ 3D measurement technologies for computer animation,” International Conference Computer Animation, pp. 167-174, 1996.
[19] Y. K. Zhang, Y. Xiao, “A practical method of 3D reconstruction based on uncalibrated image sequence,” International Conference Signal Processing, pp. 1368-1371, 26-29 Oct. 2008.
[20] N. Sun, T. Shim and M. Cao, “3D reconstruction of seafloor from sonar images based on the multi-sensor method,” International Conference Multisensor Fusion and Integration for Intelligent Systems, pp. 573-577, 20-22 Aug. 2008.
[21] E. Coiras, Y. Petillot, and D. M. Lane, “Multiresolution 3-D Reconstruction From Side-Scan Sonar Images,” IEEE Transactions Image Processing, Vol. 16, Issue 2, pp. 382-390, Feb. 2007.
[22] Terauchi T., Oue Y., and Fujimura K., “A flexible 3D modeling system based on combining shape-from-silhouette with light-sectioning algorithm,” 3-D Digital Imaging and Modeling, pp. 196–203, 13-16 June 2005.
[23] C. Hernández, G. Voqiatzis, and R. Cipolla, “Multiview Photometric Stereo,” IEEE Transactions Pattern Analysis and Machine Intelligence, Vol. 30, Issue 3, pp. 548-554, Mar. 2008.
[24] C. H. Esteban, F. Schmitt, “Silhouette and stereo fusion for 3D object modeling,” Computer Vision and Image Understanding, Vol. 96, Issue 3, pp. 367-392, Dec. 2004.
[25] R. C. Gonzalez, R. E. Woods, “Digital Image Processing 2/e,” Pearson Education, 2003.
[26] J. Feldman, et al., “The Use of Vision and Manipulation to Solve the Instant Insanity Puzzle,” Artificial Intrlligence, pp. 359-364, 1971.
[27] H. Inoue, “Computer Controlled Bilateral Manipulator,” Japanese Sociey of Mechanical Engineers, pp. 199-207, 2005.
[28] H. Ho, “2D-3D Block Matching,” Master thesis. The University of Auckland, New Zealand, N. Z. L., 2004.
[29] J. R. Wu, “3D Model Acquisition Based on Shape from Silhouettes and Stereo,” Master thesis. National Chung Cheng University, Taiwan, R. O. C., 2007.
[30] K. M. Cheung, S. Baker and T. Kanade, “Shape-From-Silhouette Across Time Part I: Theory and Algorithms,” International Journal of Computer Vision, Vol. 62, No. 3, pp. 221-247, May 2004.
[31] K. M. Cheung, S. Baker and T. Kanade, “Shape-From-Silhouette Across Time Part I: Theory and Algorithms,” International Journal of Computer Vision, Vol. 62, No. 3, pp. 221-247, May 2004.
[32] 謝慶雄 編著，「機構學」，高立圖書有限公司，中華民國93年。
[33] 康鳳梅 等人編著，「循序學習AutoCAD 2004」，全華科技圖書股份有限公司，中華民國93年。
[34] 康鳳梅 等人編著，「循序學習SolidWorks 2005」，全華科技圖書股份有限公司，中華民國94年。
[34] 鐘國亮 編著，「影像處理與電腦視覺」，東華書局，中華民國95年。