A method for aligning a robot end with a target object includes: acquiring a target direction for a surface to be aligned; selecting a control point, and establishing a coordinate system of the control point; controlling the surface to move along a direction such that the z-axis points in the target direction; rotating, when the surface is determined to be in contact with the target object, the surface with respect to the target object actively and keeping the surface in contact with the target object, and acquiring a first displacement of the control point; determining a relationship between the first displacement and the z-axis; determining, based on the relationship between the first displacement and the z-axis, whether a current rotation direction is a correct alignment direction; and controlling, based on the determination, the surface to be rotated.