The invention relates to the field of robot automatic control, in particular to a visual identity-based manipulation method for an end position of a universal robot. The method comprises the following steps that an operator observes the difference between the end position of the universal robot and a target position and establishes the motion position relation between a palm of the operator and an end of the universal robot; in a set time interval, visual equipment identifies and stores a plurality of first coordinates for motion of the palm opposite to the visual equipment when the palm of the operator moves towards the target position, and change the first coordinates to a coordinate system of the universal robot, wherein the end of the universal robot moves towards the target position according to the motion of the changed first coordinates. The method changes the traditional human-computer interaction mode and gets rid of the dependence on a physical manipulator, so that the manipulation difficulty is reduced, the manipulation efficiency is improved, and the manipulation experience is enhanced.