Abstract: In this paper some research work on the fusion of vision and ultrasonic sensors and the servocontrol of robots has been conducted. Through the fusion the position and orientation of objects on a workingplane is determined, some of the object features are selected to form a feature vector with regard to the servocontrol of robots, and the differential change of the vector is derived.Based on the differential change,amodified optimum control algorithm is proposed,and its stability is proved.Simulation results show that theproposed algorithm is effective and practical.