全向移動平台（Omnidirectional Mobile Platform）是一種具有全方向移動能力的移動平台，比起傳統的四輪平台更加靈活且複雜。本文自行設計此移動平台並結合機械手臂與影像辨識系統，並整合軟、硬體功能，最後使其能夠模擬一些簡單的人體動作。
在機械手臂方面，描述了手臂的運動模型，取得末端的位置座標；在影像辨識上，利用雙目測距取得球體的世界座標；再將機械手臂與雙目估計的座標整合，最後透過拋物線運動方程式以及類神經網路預測其落點。
最後通過實驗結果證明所提出的方法可以整合不同的座標系，且可以追蹤球體的座標，及時回傳並移動到預測落點的位置，再控制機械手臂到實際球體落下位置完成接球動作。

The omnidirectional mobile platform is a type of mobile platform with omnidirectional movement capability, making it more agile and complex compared to traditional four-wheeled platforms. This thesis, designed this mobile platform and integrated it with a robotic arm and an image recognition system to simulate some simple human movements.
In the field of robotic arms, the motion model of the arm is described to obtain the coordinates of the end effector. In image recognition, binocular distance measurement is used to obtain the world coordinates of the ball. The coordinates estimated by the binocular vision system are then integrated with the robotic arm's coordinates. Finally, through the projectile motion equation and neural network, the landing point of the ball is predicted.
The experimental results prove that the proposed method can integrate different coordinate systems, and track the coordinates of the sphere, return it in time and move it to the predicted landing point, and then control the robotic arm to the landing position of the sphere to complete the catching action.

[1] Industrial autonomous robots, from https://www.masindustria.es/
[2] B. Zhao, H. Yu, J. Yu, H. Wu, X. Liu and X. Xu, "Induction motor drive control for Gantry robot position," 2018 Chinese Control And Decision Conference (CCDC), Shenyang, China, 2018, pp. 4403-4408.
[3] C. Zhang and Z. Zhang, "Modelling and Simulation of SCARA Robot using MATLAB/SimMechanics," 2019 IEEE 3rd Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC), Chongqing, China, 2019, pp. 516-519.
[4] Y. Pan, J. Tang, Q. Zhao and S. Zhu, "Forward and Inverse Kinematics Modeling and Simulation of Six-axis Joint Robot Arm Based on Exponential Product Method," 2020 IEEE 3rd International Conference on Automation, Electronics and Electrical Engineering (AUTEEE), Shenyang, China, 2020, pp. 372-375.
[5] S. Phukan and C. Mahanta, "Position Synchronization Control of a 3DoF Dual Arm Robotic Manipulator System using Integral Sliding Mode," 2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Bangkok, Thailand, 2019, pp. 439-444.
[6] H. Man, N. Ge and L. Xu, "Intelligent Motion Control Method Based on Directional Drive for 3-DOF Robotic Arm," 2021 5th International Conference on Robotics and Automation Sciences (ICRAS), Wuhan, China, 2021, pp. 144-149..
[7] Analysis and application of control theory of six-axis robotic arm, from https://www.epcio.com.tw/paper/%E5%85%AD%E8%BB%B8%E6%A9%9F%E6%A2%B0%E8%87%82%E4%B9%8B%E6%8E%A7%E5%88%B6%E7%90%86%E8%AB%96%E5%88%86%E6%9E%90%E8%88%87%E6%87%89%E7%94%A8.pdf
[8] C. Srinivasamurthy, R. SivaVenkatesh and R. Gunasundari, "Six-Axis Robotic Arm Integration with Computer Vision for Autonomous Object Detection using TensorFlow," 2023 Second International Conference on Advances in Computational Intelligence and Communication (ICACIC), Puducherry, India, 2023, pp. 1-6.
[9] J. Dong, L. Deng, D. Wan and H. Liu, "Research and Simulation of Intelligent Grasping of Robotic Arm Based on Machine Vision Recognition," 2024 IEEE 4th International Conference on Power, Electronics and Computer Applications (ICPECA), Shenyang, China, 2024, pp. 1085-1089..
[10] A. A. Mohammed, H. R. Abdul Ameer and D. S. Abdul-Zahra, "Design of a Linear Mathematical Model to Control the Manipulator of a Robotic Arm with a Hexagonal Degree of Freedom," 2022 3rd Information Technology To Enhance e-learning and Other Application (IT-ELA), Baghdad, Iraq, 2022, pp. 181-185.
[11] X. Zhang and S. Xu, "Research on Image Processing Technology of Computer Vision Algorithm," 2020 International Conference on Computer Vision, Image and Deep Learning (CVIDL), Chongqing, China, 2020, pp. 122-124.
[12] H. Yanagisawa, T. Yamashita and H. Watanabe, "A study on object detection method from manga images using CNN," 2018 International Workshop on Advanced Image Technology (IWAIT), Chiang Mai, Thailand, 2018, pp. 1-4.
[13] A. Anish, S. R, A. H. Malini and T. Archana, "Enhancing Surveillance Systems with YOLO Algorithm for Real-Time Object Detection and Tracking," 2023 2nd International Conference on Automation, Computing and Renewable Systems (ICACRS), Pudukkottai, India, 2023, pp. 1254-1257.
[14] S. Gobhinath, S. Sophia, S. Karthikeyan and K. Janani, "Dynamic Objects Detection and Tracking from Videos for Surveillance Applications," 2022 8th International Conference on Advanced Computing and Communication Systems (ICACCS), Coimbatore, India, 2022, pp. 419-422.
[15] E. DANDIL and K. K. ÇEVİK, "Computer Vision Based Distance Measurement System using Stereo Camera View," 2019 3rd International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT), Ankara, Turkey, 2019, pp. 1-4.
[16] A. Fetić, D. Jurić and D. Osmanković, "The procedure of a camera calibration using Camera Calibration Toolbox for MATLAB," 2012 Proceedings of the 35th International Convention MIPRO, Opatija, Croatia, 2012, pp. 1752-1757.
[17] Guo Yan Xu, Li Peng Chen and Feng Gao, "Study on binocular stereo camera calibration method," 2011 International Conference on Image Analysis and Signal Processing, Hubei, 2011, pp. 133-137.
[18] HT32F52342_datasheet, from https://www.holtek.com.tw/WebAPI/11842/HT32F52342_52_Datasheetv150.pdf/448fb111-4158-4893-9d88-60f02ed96526
[19] MG995_datasheet, from https://www.electronicoscaldas.com/datasheet/MG995_Tower-Pro.pdf
[20] S. Zhang, C. Wang and S. C. Chan, "A new high resolution depth map estimation system using stereo vision and depth sensing device," 2013 IEEE 9th International Colloquium on Signal Processing and its Applications, Kuala Lumpur, Malaysia, 2013, pp. 49-53.
[21] M. Zheng, Z. Wang, H. Li and J. Lu, "Study of binocular parallax estimation algorithms with different focal lengths," 2023 IEEE 2nd International Conference on Electrical Engineering, Big Data and Algorithms (EEBDA), Changchun, China, 2023, pp. 1226-1229.
[22] A. Pareek and L. Gidwani, "Measured data of daily global solar irradiation using curve-fitting methods," 2015 International Conference on Energy Systems and Applications, Pune, India, 2015, pp. 561-565.
[23] Z. -A. Zhang and X. -Y. Lei, "An accurate prediction of the correction point of trajectory correction projectile based on time window technique," 2017 36th Chinese Control Conference (CCC), Dalian, China, 2017, pp. 6281-6286.
[24] H. -I. Lin and Y. -C. Huang, "Ball Trajectory Tracking and Prediction for a Ping-Pong Robot," 2019 9th International Conference on Information Science and Technology (ICIST), Hulunbuir, China, 2019, pp. 222-227.
[25] A. Khan, C. Xiangming, Z. Xingxing and W. L. Quan, "Closed form inverse kinematics solution for 6-DOF underwater manipulator," 2015 International Conference on Fluid Power and Mechatronics (FPM), Harbin, China, 2015, pp. 1171-1176.
[26] Z. Li, X. Zhao, X. Wang, Q. Hu and H. Zhou, "9-DOF Serial Robotic Arm for Space Environments and Its Inverse Kinematics Analysis*," 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, 2023, pp. 1-7.
[27] J. Inthiam and C. Deelertpaiboon, "Self-localization and navigation of holonomic mobile robot using omni-directional wheel odometry," TENCON 2014 - 2014 IEEE Region 10 Conference, Bangkok, Thailand, 2014, pp. 1-5.
[28] Parabolic motion, from https://zetria.tw/physics/a380e04c2c