Based on cablevision technology, a robot ending′s attitude measurement using VC++, Matlab and other tools is proposed. By the monocular or binocular stereo vision technology, the robot operating path image is acquired. According to the camera imaging principle, the camera and the image calibration is established. How to use the cablevision technology to get the space point coordinates is described in detail, and the spatial surface normal vector, which is the robot ending attitude, is determined. When the robot offline planning is making, towards the special posture requirements of the operational targets and the robots ending offline planning, the method can achieve a desired effect.