5、industrialproductionandotherfieldsofhumanactivity,whichisboundtomaketherobotundertake more complex operating tasks than industrial production and face a more complex workingenvironment.Therefore,thisrequirestherobottohaveastrongerabilitytoobtaininformati
6、onfromtheoutsideworldandtorespond,sothevisualservocomesintobeing.Andpose estimation is an important research direction in the field of visual servo, is also a robot localizationandnavigation,targettrackingandrecognition,virtualreality,motionestimationand
7、manyothertheoreticalstudyandpracticearethecoreproblemtosolve.First of all, this paper introduces the visual servo system of the mathematical model of cameraanditsgeometricmappingrelation,andtheinversekinematicsanalysisandmodelingofthemanipulator,Theovera
8、llmodelingandsimulationofthePosition-BasedVisualServosystem is presented.Secondly,thispaperstudiesposeestimationmethodsofbasedroboticvisualservoing(RVS),andintroducestheposeestimationalgorithmbasedonkalmanfilter,thatusesan