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中文摘要：
建立了基于计算机视觉的平面可控机构运动轨迹的检测系统,对平面可控机构的运动轨迹进行了检测研究。构建了视觉检测平台,利用已标定的摄像机获取目标的运动序列图像,应用数字图像处理技术对该序列图像进行处理得到运动目标的运动轨迹（包括位移、速度和加速度）;对可控机构的运动轨迹进行了试验检测,试验结果表明该方法通用性好、精度高。
英文摘要：
The study on detecting the trajectory of planar controllable linkage mechanism based on computer vision was presented. Firstly, a visual detection system with camera as the basic part was formed, and the problem of data lost in the process of image acquiring has been solved. The sequence image of object was acquired by the calibrated camera system, and the trajectory of object was gained by the algorithms of image processing, object detection and location. The visual detection method for planar controllable mechanism has been realized, and the result is satisfactory.
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