Abstract: The Jacobin matrix for images of a GRB-400 visual servo robotwas derived. A control algorithm was designed to achieve a stable control strategy for dynamic double-loop feedback motion controlof the visualservo robo.t A directplanarpath planningmethod for the robotwasproposed based on the combination of steepest descentmethod and punishment function method to solve the least- energy costpath planning problem with time constrain.t Simulation and experiment results show that the robotcan determine an optimalpath by applying the proposedmethodwheneverobjects orobstacles arewithin the visual scope of the robot.