Provided are a method and apparatus for controlling a mechanical arm on the basis of monocular visual positioning. The method comprises: first, acquiring pixel coordinates of a target point of a target object in a pixel coordinate system; then performing transformation by using a homogeneous transformation matrix of a camera coordinate system with respect to a mechanical arm tail end and a homogeneous transformation matrix of the mechanical arm tail end with respect to a world coordinate system, so as to obtain an equation of a straight line-of-sight; and finally, acquiring, in the world coordinate system, a plane equation of a plane in which the target point is located, and obtaining world coordinates of the target point by means of the equation of the straight line-of-sight and the plane equation. Therefore, compared with the prior art, the embodiments of the present application have no need for two monocular cameras, refine a positioning system, provide simple operations, do not involve the matching of image feature points and the measurement and calculation of an optimal distance, simplify a processing algorithm, and reduce the requirements for a hardware device.
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