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中文摘要：
给出了一种混合驱动机构实现给定轨迹的方法，确定了驱动电机的输入运动规律；以摄像机为核心构建了机构运动轨迹的视觉检测系统，提出了基于计算机视觉的方法对混合驱动机构的运动轨迹进行检测；构建了混合驱动机构运动轨迹控制实验平台，提出了一种实现两原动件初始角位移动态同步的检测方法。实验的结果表明：本文提出的给定轨迹的生成方法在机构运行速度较低时是可行有效的，基于视觉对混合驱动机构进行轨迹检测是可行的，并且具有较好地检测精度和稳定性。
英文摘要：
The generation and detection of given trajectory of a planar five-bar hybrid driven mechanism was investigated. An approach to determining the rules of input movement for generating the given trajectory in this mechanism was put forward. A method for detecting the generated trajectory by means of computer vision was proposed, and the visual detection system was developed. The experimental platform of the five bars hybrid mechanism was constructed, and a dynamic measure technique for the synchronization in initial angel displacement of two actuators was introduced. The results of experiments indicate that the method for generating given trajectories is effective, and the method for detecting trajectories of hybrid driven mechanism based on computer vision is feasible and accurate.
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