The position-based approach first estimates the position of the target object relative to the camera in Cartesian coordinates, based on a geometrical model of the robot, its reachable work space (task space) and the target object.

• 基于位置的视觉伺服方法首先根据机器人的模型、可到达的工作空间以及目标物体来估计目标物体在直角坐标空间中相对于摄像机的位置。