In this paper we describe a control methodology for catching a fast moving object with a robot manipulator, where visual information is employed to track the trajectory of the target. Sensing, planning and control are performed in real-time t

利用最小二乘算法实现对三维平面的拟合，预报误差法参数辨识-松弛的思想，鲁棒性好，性能优越。- Least-squares algorithm to fit a three-dimensional plane, Prediction Error Method for Parameter Identification- the idea of relaxation, Robustness, superior performance.