Aiming at the problem that when the parabolic trajectory is unknown

it is difficult for the robot to capture accurately in the research field of robot capturing the thrown object

on the basis of the study of precise control of the end of the 6-degree of freedom（ DoF） robot

imitate the thoughts that people capture parabolic. Firstiy by predicting the trajectory of the parabolic

the approximate capture point of the robot is prejudged and the robot moves to this point in advance for waiting. When the parabolic enters the working space of the robot

the algorithm for capture based on extended Kalman filtering（ EKF） is put forward which makes. the robot to overcome the disturbance and achieve accurate capture. The experimental results show that the robot can achieve accurate capture under the condition of six different groups of dynamic unknown parabolas. On this basis

several groups of experiments are carried out

the results show that the success rate of robot capture can reach more than 95 %.Therefore

this method can effectively improve the success rate of robot catching parabolic in unknown dynamic environment

and promote the development of robot intelligence level.