本研究希望能發展結合影像模組的機械手臂系統，能夠快速的辨別未知 物體之顏色、形狀與位置資訊，同時配合夾爪上之雷射光模組，投影至工作 空間利用攝影機取得夾爪當前位置，作為定位精準度的回饋。在影像模組方 面，由於使用的預處理的空間網格點建構，將實際的座標位置投影轉換至攝 影機取得的平面影像上。用此種方式能夠快速地利用內插法將目標物件中心 點像素與實際空間座標位置計算出來，同時可以保證誤差量必定小於網格點 間距，因此若攝影機解析度越高，能夠應用的網格點間距也就越小，定位精 度也越準確。
而為了應付特殊需求的目標物件，採用切換一般或水平夾取模式的方法，
得以實現移動過程當中不傾倒物體的要求，這是與一般研究不同的特點，而 當任務或物件沒有此類特殊需求時，仍然使用一般的逆向運動學算法，以期 取得最大的工作範圍。透過使用本研究中使用的 IK Solution 法，可以快速的 計算機械手臂其逆向運動學推導，實現即時運算處理的效果。
本研究未來希望不僅僅只能將論文中提到的研究方法應用於論文中所 使用的機械手臂上，而能使用在更複雜、更大型具備影像功能之機械手臂 上。
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