中文摘要：

为了提高机械手应用的灵活性，增强机械手对动态环境的适应能力，降低机械手对工件位置的依赖性。采用立体视觉技术对未知平面的法线方向进行估计，根据工程应用中对末端执行器的速度以及位姿的实际要求，采用PID控制策略控制机械手末端执行器与工件之间的相对位姿．进行了仿真实验以验证所提方法的有效性。结果表明：该方法能够实现末端执行器和工件之间相对位姿的动态控制．

英文摘要：

To improve the flexibility of the application, enhance the adaptability to the dynamic environmen.t, and reduce the dependence of robot manipulator on the position of work piece, the stereo vision technique is employed to estimate the normal direction of.the unknown plane. According to the actual requirements of velocity and the pose of the end-effector in engineering applications, a PID control scheme is used for robot manipulator to control the end-effector pose （position and orientation） with respect to the work piece. Simulations have been conducted to verify the effectiveness of the proposed method. It is shown that the method can implement the dynamic control of the end-effector pose with respect to the work piece.