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带有视觉导引的机器人系统在工业生产中，在航空航天中有着越来越广泛且重要的应用．本文研究了带视觉系统的Eye－in-Hand型机器人系统对运动目标进行跟踪的视觉伺服控制问题，讨论了一种距离参数在线估计条件下的最优控制算法，设计了一种时变加权矩阵策略，对解决控制中稳态误差和超调量之间的矛盾有较好的效果．利用PUMA560机器人实际取得的参数进行仿真研究，结果表明，采用此控制算法，Eye-inHand型机器人系统对静态目标的定位，对匀速直线运动目标、变速直线运动目标及曲线运动目标的跟踪，可达到较快的响应和较好的精度．
Robot systems with vision guidance have more and more widespread and important applications in aerospace in industrial production. In this paper, we study the visual servoing control of the Eye-in-Hand robotic system with vision system to track the moving target, discuss an optimal control algorithm under the condition of on-line distance parameter estimation, and design a time varying weight matrix Strategy has a good effect on resolving the contradiction between steady state error and overshoot in control. The simulation results show that the Eye-inHand robotic system locates the static target, and can track the uniform linear target, variable speed linear target and curved target by using the actual parameters obtained by PUMA560 robot. Faster response and better accuracy.