The invention discloses an 
industrial robot capturing method based on a 
monocular camera and a three-dimensional 
force sensor. The method comprises the steps that the 
monocular camera and the 
industrial robot are calibrated, and the three-dimensional 
force sensor is initialized; the 
monocular camera acquires an object image, an upper computer conducts 
image processing and calculates the position information of an object, the 
robot is controlled to move to a position above the object according to the position information, and then the 
robot moves downwards vertically till making contact with the object to be captured; the three-dimensional 
force sensor senses the 
contact force information between the 
tail end of the 
robot and the surface of the object, the upper computer controls the 
industrial robot to stop moving according to 
contact force information and calculates the 
pose increment of the 
tail end of the robot, the posture of the robot is adjusted according to the 
pose increment till a pneumatic sucker at the 
tail end of the robot is attached to the plane of the object to be captured, and the pneumatic sucker acts to achieve capturing. By the adoption of the method, objects placed obliquely in a messy mode can be captured, and complexity of camera calibration and object space 
pose estimation is reduced.