本研究旨在建構一套以機械手臂為核心的光學掃描系統，透過推導與實作的順向與逆向運動學模型，使六軸機械手臂能依指定路徑精確移動。系統於手臂末端裝設功率計（Power Meter），用以掃描顯示螢幕上特定光學圖樣之光功率分布，並建立實際量測結果之光功率影像。為提升空間解析度並限制量測區域，本研究於 Power Meter 前方加裝小孔以限制光學視場角（Field of View），使每次量測面積僅涵蓋螢幕上的微小範圍，進而提升重建結果的細節辨識能力。 整體系統採平面掃描路徑，固定末端執行器之姿態並沿螢幕平面逐點移動進行量測。透過分析 Power Meter 量測圖與原始圖樣之間的差異，可得知圖的誤差分布，進一步得知各掃描位置所對應的誤差，據以推估其可能產生的路徑誤差與角度偏移。本研究的方法能有效結合 Power Meter 與機械手臂，量測並解析二維平面的特徵。未來可進一步應用於多種不規則平面的量測，藉由掃描路徑重建其形狀與細節。 本研究結合機械手臂運動控制、光學掃描與誤差分析方法，展示其於精密光學量測、與誤差來源診斷等應用場域之潛力。;This study aims to develop an optical scanning system centered on a robotic arm. By deriving and implementing forward and inverse kinematics models, the six-axis robotic arm can accurately follow a specified trajectory. A power meter is mounted at the end effector to scan the light intensity distribution of specific optical patterns displayed on a screen, thereby generating an image of the measured light intensity. To improve spatial resolution and limit the measurement area, an aperture is installed in front of the power meter to restrict the field of view (FOV), ensuring that each measurement covers only a small portion of the screen and thus enhances the detail resolution in the reconstructed results. The overall system adopts a planar scanning path, with the end effector’s orientation fixed while moving point by point along a planar grid for measurement. By analyzing the differences between the power meter measurement map and the original pattern, the error distribution can be determined, and the positional errors corresponding to each scanning point can be identified. This information is then used to estimate potential trajectory deviations and angular offsets. The proposed method effectively integrates the power meter with the robotic arm to measure and analyze the features of two-dimensional surfaces. In the future, it can be extended to measure various irregular surfaces, reconstructing their shapes and details through scanning paths. By combining robotic arm motion control, optical scanning, and error analysis techniques, this research demonstrates the potential of the proposed system for applications in precision optical measurement and error source diagnostics.
