中文摘要：

To whom correspondence should be addressed, E-mail： junhong.ji@hit.edu. cn Ji Junhong, born in 1972. He received his B.S., M.S. and Ph. D degrees from Harbin institute of Technology in 1994, 1996 and 2000 respectively. Now he is an associate professor in Robotics Institute, Harbin Institute of Technology. His research interests include robot visual servoing and robot kinematics calibration.