A robot vision grasping control system based on open control platform is designed. A vision technique together with a robot motion control system were integrated in the sytem, modular design was adopted to achieve the system architecture, and TCP/IP network real time transmission was used to realize the information interaction. Guided by the vision identification, grasping and carrying tasks were completed by the robot under complicated conditions, and reliability, real time and scalability of the control system were all improved. The system is applied to an independent research and development of the four-joint robot, and runs stable and reliable.