Abstract: This paper provides a method to grasp static objects in unstructured environment with a manipulator guided by human-machine cooperation techniques.With the help of human experiences,a method to get the "grasping position" of object by using "laser-CCD camera" system and a method to get "grasping pose" of object by using virtual reality techniques are introduced respectively.Then,the visual guiding technique based on model is applied to guide the arm to complete the grasping task.