？？HILL J,PARK W T.Real time control of a robot with a mobile camera[A].Proceedings of 9th ISIR[C].Washington,D.C.,USA，1979.233-246.
[2]
？？FERNNDEZ-M J A，GONZLEZ J.The NEXUS open systems for integrating robotic software[J].Robotics and Computer Integrated Manufacturing，1999,15(6):431-440.
[3]
？？NILLSOR K,JOHNSSON R.Integrated architecture for industrial robot programming and control[J].Robotics and Autonomous Systems,1999,29(4):205-226.
[4]
？？TAN Shizhe,MEI Zhiqian,YANG Ruqing.Design of industrial robot controller based on DSP[J].Robot,2002,24(2):134-139(in Chinese).[谈世哲，梅志千，杨汝清.基于DSP的工业机器人控制器的设计与实现[J].机器人，2002,24(2):134-139.]
[5]
？？ZHAO Qingjie,LIAN Guangyu,SUN Zengqi.Survey of robot visual servoing[J].Control and Decision,2001,16(6):849-853(in Chinese).[赵清杰，连广宇，孙增圻.机器人视觉伺服综述[J].控制与决策，2001,16(6):849-853.]
[6]
？？FANG Y,DIXON W E,DAWSON D M.Robust 2.5D visual servoing for robot manipulator[A].Proceedings of the American Control Conference[C].Denver,CO,USA，2003.3311-3316.
[7]
？？CORKE P,HUTHINGSON S.A new partitioned approach to image-based visual servo control[J].IEEE Tansactions on Robotics and Automation,2001,17(4)：507-515.
[8]
？？LIU Pengfei,HAN Jiuqiang,MA Jianmei.Research on kinematics modeling and inverse kinematics problem based on BP networks of Motoman robot[J].Microeletronics and Computer,2004,21(11):6-9(in Chinese).[刘鹏飞，韩九强，马健梅.Motoman机器人的运动学建模及基于BP网络的IKP研究[J].微电子学与计算机，2004,21(11):6-9.]
