Base on monocular vision, the concept of industrial robot stacking system is proposed. In order to realize robotics motion control and recognition of the workpiece pose accurately in robotic visual stacking system, the kinematics model of robot was established by using D-H displacement matrix method, and the position posture information of the robot terminal actuator basing on robot coordinate system could be obtained. The algorithms of image recognition was proposed by using the shape matching approach, and the image coordinate information of the targets basing on camera coordinate system could be obtained. The three dimensional (3D) vision model and the robot kinematics model were fused to build a mathematical model of robot stacking system. Set up an experimental system for visual positioning and grabbing by using the charge coupled device (CCD) industrial camera and the four degee of freedom (4DOF) 〖JP3〗industrial robot. Verify the correctness, accuracy and robustness of the robot stacking systemby the grasping experiment of objects in space.