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针对视觉引导的机器人轨线跟踪控制问题，结合视觉传感器的测量特点提出了视觉与控制集成的控制方案，在跟踪轨线切向实现等速度控制，而在法向实现位置控制，这一法向位置误差容易由采样图象直接获得，采用一并行控制器可实现伺服级上的视觉引导，使系统跟踪性能得到明显提高，在小视场条件下（２６．４ｍｍ×２６．４ｍｍ）跟踪速度达到２５０ｍｍ／ｓ．
In view of the problem of vision-guided robotic trajectory tracking control, a visual and control integrated control scheme is put forward based on the measurement characteristics of the visual sensor. Equal velocity control is implemented in the tangential direction of the trajectory while the position control is implemented in the normal direction. The position error can be easily obtained directly from the sampled image. A parallel controller can be used to realize the visual guidance on the servo level, which can significantly improve the tracking performance of the system. With a small field of view (26.4mm × 26.4mm), the tracking speed reaches 250mm / S.