讨论了机械手运动目标跟踪问题，直接利用图像误差达到注视目的．利用手部摄像机于期望位置获取待跟踪物体图像，以此作为期望图像，而后可以对同类运动物体进行注视跟踪，使实时采样图像收敛于期望图像．该控制方案与通常基于图像特征的控制方法不同，其为直接图像反馈方法，控制律由图像差反馈和物体运动自适应补偿组成，可以完成“眼注视”这种具有局部收敛要求的运动目标跟踪，具有良好的准确性与鲁棒性 Discusses the tracking problem of manipulator’s moving target, and directly uses the image error to achieve the fixation purpose. Using the hand camera to obtain the image of the object to be tracked at a desired position, as a desired image, the moving object of the same type can be followed up and the real-time sampled image converges to the desired image. The control scheme is different from the usual control method based on image features, which is the direct image feedback method, the control law consists of image feedback and object motion adaptive compensation, which can accomplish the tracking of moving eyes with local convergence such as “eye gaze” , With good accuracy and robustness