To improve the accuracy and robustness of the cooperative robot Baxter when identifying and grasping target objects,the relevant image processing algorithms are studied.An algorithm for detecting the contour of the workspace is proposed based on HSV color model and morphological treatment,and the traditional Hough transform algorithm for detecting circles is improved.The experimental results show that,the proposed and improved algorithms can improve the accuracy and robustness of the cooperative robot Baxter when it is identifying and grasping target objects.