From TARDIS Index File, the free Doctor Who reference.

Richard Mace
Also known as:
Race:	Human
Home Planet:	Earth
Home Era:	1666
Appearances:	DW: The Visitation
Actor:	Michael Robbins

Richard Mace was a slightly cowardly, roguish itinerant English actor of the 17th century, prone to using colourful language and theatrical gestures. (DW: The Visitation)

Behind the Scenes

The character, in a slightly different form, had previously featured in three radio plays for BBC Radio 4: The Assassin, Pegasus and The Nemesis Machine, all written by Saward. In these, Mace is a Victorian actor-manager who becomes involved in various strange mysteries. He is much like his (presumed) ancestor in mannerisms. This Victorian Mace is portrayed by Geoffery Matthews.