中文摘要：

研究机械手对未知平面内直线和圆形轨迹的跟踪方法，在跟踪过程中，保持末端执行器与未知平面之间接触力恒定．该控制系统采用视觉和力的双闭环控制结构，利用双目立体视觉系统实现对未知平面法线方向的估计，实现对水平面内运动分量的视觉伺服控制；应用力传感器感知末端执行器与未知平面之间的接触力，实现对末端执行器在垂直方向运动分量的控制．应用MATLAB机器人工具箱进行仿真实验，验证控制策略的有效性．

英文摘要：

The tracking method of manipulator for a straight and circular locus on unknown plane was in- vestigated. During the tracking process, the contact force between the end-effector and unknown plane should be kept constant. A double closed-loop control structure with both vision and force closed-loops, was employed in this control system and a double-eye stereo vision system was employed to estimate the normal direction of the unknown plane. The visual servo control of motion component in horizontal plane was realized. A force transducer was used to sense the contact force information between the end-effector and the environment, so that the control of vertical motion component of the end-effector was realized. The simulations experiment was conducted by using the robotic toolbox in MATLAB and the effectness of the control strategy was verified.