手眼協調(hand-eye coordination)能力為人類所具有的高等生物行為動作之一。為了重現人類靈巧的操控技巧，本研究以桌球運動觀點，提供一套靈巧機器手腕與立體視覺影像回授控制策略，來達成基礎手眼協調能力技巧之展現。
文中首先透過空氣動力學與碰撞力學的概念，分析乒乓球於過程中的受力情況，其中包含球於空氣中飛行、球與板的非彈性碰撞以及人類拍擊策略等三個部份的探討。同時利用双攝影機取得影像，並經由內部參數校正後，建立立體資訊。進而計算球於空間中的位置與飛行狀況，並控制下方的機器手腕進行拍擊。此機器手腕乃以三個伺服機(Servo motor)來重現人類拍擊時腕、肘關節之運動，論文目的在實現連續拍擊乒乓球動作，以達到球彈跳之智慧型手眼協調控制。

The capability of hand-eye coordination is one of the dexterous skills owned by human beings. In order to reproduce the skillfully operational technique and demonstrate basic hand-eye coordination technique, a robotic wrist system with stereo visual feedback strategy from the viewpoint of table tennis is presented in this thesis.
Based on the concept of aerodynamics and collision mechanics, the exerted forces acting on the ball are analyzed. Three stages, including the ball flying in the air, inelastic collision between a racket and the ball, and hitting strategy of humans, will be investigated. At the same time, three-dimensional information for the scene is established using images acquired by dual cameras with a calibration process. Therefore, the flying status of the ball and its position in the space can be calculated. The robotic wrist located underneath will then be controlled to hit the ball to allow it bouncing upwards. The mechanical wrist is operated by three servo motors to simulate actual movement of human wrist. The objective is to successively hit the ball with the racket to achieve intelligent hand-eye coordination control on ball bouncing.

目錄 ...................................................................................................................... I
圖目錄 ............................................................................................................... IV
表目錄 ............................................................................................................... VI
摘要 .................................................................................................................. VII
Abstract ........................................................................................................... VIII
第一章 緒論 ..................................................................................................... 1
1-1 研究動機與目的 ................................................................................ 1
1-2 研究方法與步驟 ................................................................................ 1
1-3 文獻回顧 ............................................................................................ 3
1-4 論文結構 ............................................................................................ 5
第二章 球體飛行與拍擊力學簡介 ................................................................. 6
2-1 飛行中球體受力情形 ........................................................................ 6
2-1-1 重力(Gravity) .............................................................................. 6
2-1-2 空氣浮力(Buoyancy of Air) ....................................................... 7
2-1-3 空氣阻力(Air resistance) ............................................................ 7
2-1-4 馬格努斯作用力(Magnus Force) ............................................... 9
2-1-5 附加質量作用力(Added Mass Force) ........................................ 9
2-1-6 飛行中球體之動態數學模型 ................................................... 10
2-2 球體受拍擊之受力情形 .................................................................. 11
2-2-1 碰撞 ........................................................................................... 11
2-2-2 非彈性碰撞 ............................................................................... 12
2-2-3 恢復係數 ................................................................................... 12
2-3 擊球策略 .......................................................................................... 13
第三章 影像感測器與內部參數 ................................................................... 17
3-1 相機成像針孔模型 .......................................................................... 17
3-2 相機內部參數 .................................................................................. 19
3-3 相機規格介紹 .................................................................................. 25
3-4 相機內部參數估測 .......................................................................... 27
第四章 影像處理與立體三維估測 ............................................................... 29
4-1 移動物體偵測 .................................................................................. 29
4-2 色彩空間 .......................................................................................... 30
4-2-1 RGB與灰階 .............................................................................. 30
4-2-2 HSV色彩空間 .......................................................................... 31
4-3 影像二值化(Thresholding) .............................................................. 33
4-4 形態學轉換 ...................................................................................... 35
4-4-1 侵蝕 ........................................................................................... 35
4-4-2 擴張 ........................................................................................... 35
4-4-3 開運算 ....................................................................................... 36
4-4-4 閉運算 ....................................................................................... 36
4-5 影像濾波器 ...................................................................................... 36
4-6 立體視覺估測三維空間中座標 ...................................................... 38
4-7 影像處理流程規劃 .......................................................................... 41
第五章 系統架構與實現 ............................................................................... 43
5-1 系統架構 .......................................................................................... 43
5-2 主控系統 .......................................................................................... 44
5-3 硬體設備 .......................................................................................... 45
5-3-1 SSC-32伺服機控制板 ............................................................. 45
5-3-2 致動器 ....................................................................................... 45
5-3-3 擊球板 ....................................................................................... 47
5-3-4 球 ............................................................................................... 48
5-4 系統設置位置 .................................................................................. 49
第六章 模擬與實驗 ....................................................................................... 50
6-1 拍擊控制策略模擬 .......................................................................... 50
6-1-1 球體飛行路徑模擬 ................................................................... 51
6-1-2 接球拍擊策略模擬 ................................................................... 53
6-1-3 綜合拍擊策略模擬 ................................................................... 56
6-2 立體視覺定位實驗 .......................................................................... 58
6-3 智慧型手眼協調控制實驗 .............................................................. 62
第七章 結論與未來展望 ............................................................................... 69
參考文獻 ........................................................................................................... 71

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