根据被跟踪目标的当前位置信息以及告警触发条件进行计算；根据上述计算结果判断是否需要告警；

Then result is got after computing according to the local position information and alarm toggle condition to judge whether to alarm.

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利用手眼反馈和关节返回的信息来估计实际情况下当前机械臂末端与目标的相对位姿，进行机器人的控制。

Using the information fed back from the eye-hand controller and joints, the relative position and pose between the target and the tip of manipulator are estimated, and the controlling is made.

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