提出了装配机器人系统中一种基于视觉引导和超声测距的运动目标跟踪和抓取方法。介绍了运动目标的跟踪原理 ,采用图像雅可比矩阵进行机器人运动控制 ,跟踪运动的目标。利用视觉引导技术 ,获取目标在图像平面中的位置与方位 ,进行平面跟踪 ,然后引导超声波测距装置测取目标深度信息。实验结果验证了本文提出的这种方法的可行性和有效性 A moving target tracking and grasping method based on vision guidance and ultrasonic ranging is presented in assembly robot system. The tracking principle of the moving target is introduced. The image Jacobian matrix is ​​used to control the robot motion and track the target of the moving. Using the visual guidance technology, the position and azimuth of the target in the image plane can be obtained and tracked. Then the ultrasonic distance measuring device can be guided to obtain the target depth information. The experimental results verify the feasibility and effectiveness of this method proposed in this paper