7.1 7.1
7.1 7.1 結論 結論 結論 結論
使用此單眼視覺系統的機械人，在手臂路徑規畫的部份，控制器能達到相當好的響 應，不論是單點或是多點路徑規畫，機械手臂都能依照模擬結果，準確地移動位置。在 執行影像處理追蹤高速目標物方面，雖然僅使用市面上隨處可見的視訊鏡頭，但在實際 測試上已經達到不錯的效果，且不需要使用相當複雜的演算法或是非常昂貴的硬體設施 即可得到此成效。在校正方面，也可使影像平面中誤差值縮小到 1 個 pixel 左右。
利用簡單的拋物線軌跡方程式，並結合校正所推得的真實空間與影像平面轉換公式，
即可利用單顆攝影機鏡頭來估測目標物飛行軌跡之相關參數，相較於其他使用昂貴的雙 眼系統，本論文使用一顆便宜的硬體即可達到效果，雖然在縱深方向仍有加強的空間，
但在橫向與高低的部分，估測參數顯得相當精準，克服許多硬體上限制，利用切換處理 畫面來提高影像處理速度，利用求得最佳擊球點角度來彌補機械手臂在速度上的不足，
並即時持續更新其運動路徑，盡其所能發揮到最大功效。
因為人工投擲的軌跡每次都有差異，無法百分之百重複實驗，故以多次投擲結果計 算其擊中機率來評估系統效能。實驗結果顯示擊球率為 43%，與文獻[10][14]比較可發現，
雙方在擊球成功率部份，[10]約為 6 成左右，而[14]約為 4 成左右，文獻在硬體設施方 面皆使用雙眼視覺系統來進行估測，本論文卻只用單眼視覺系統即可實現約 4 成的命中 率，而且文獻中所使用的機械手臂與攝影機鏡頭，在運作速度上遠遠超出本論文使用的 硬體設施，其造價非常昂貴，需要特別訂製，而本論文使用之硬體設施皆造價低廉，甚 至是市面上垂手可得的產品。故雙方比較結果，本論文在擊球率不至於差異太大的情況 下，卻可以使用更簡單且便宜的方式實現，此為一大貢獻。
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7.2 7.2 7.2
7.2 未來展望 未來展望 未來展望 未來展望
改良影像處理部份，使追蹤目標物可以不用針對特定顏色；加快機械手臂實驗平台 運作速度，使實驗過程中能有更多的彈性空間可以發揮，改善縱深方向估測準確度，進 而提高擊球成功率。
接著可使用力回饋控制來利用機械手臂針對某特定方向或位置進行擊球的動作，使 機械手臂能像棒球選手一樣做出推打、拉打、點球等動作。
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參考文獻 參考文獻 參考文獻 參考文獻
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