Liang et al. 1988 : A general framework for robot hand-eye coordination is proposed, including: dynamic, real time, adaptive hand-eye calibration; full cooperation and mutual coordination of a vision system and a robot manipulator; and three stages in motion control, namely, global motion control, precise measurement of object-in-hand, and fine-motion control. In measurement of object-in-hand, an iterative method based on null motion observation is used. In fine-motion control, objects are aligned by an iterative method based on the precise alignment of laser stripes projected on the objects. In both cases, the final accuracy does not depend on the accuracy of the hand-eye calibration. This method of fine motion determination is analytical and general.