Aiming at high speed visual tracking by integration of vision and control, this paper presents a new control scheme for robot visual tracking of a drawing curve (eye in hand configuration). To track a curve, the control is decomposed into two subfunction, The one is velocity control, which controls the center of CCD camera to move along tangential direction of the curve, The other is position control, which controls the center of CCD camera to move in normal direction approaching to the curve. As the result the center of CCD camera always moves along the curve. The unit tangential vector and the normal tracking deviation can be measured from image within servo sampling time, Hence the visual tracking control is realized on the base of servo cycle (2ms). For integration of vision and control, a Transputer based parallel controller is developed. The tracking speed can reach 25cm/s with a small field of view (2.64cm × 2.64cm), which is about 10 times higher than the conventional method.