2 0 0 8M8j y9j$VeE_d,VeE_byj$_,XS|Sm,3m)/m)SE(MaF) ;VeEk_,kTVZEYzab1oM:Ve E_ 9j$ms|: TN911173; TH112DSM: ADetectingTrajectoryofPlanarControllableLinkageMechanismBasedonComputerVisionLi Renjun Liu Hongzhao Li Pengfei( Xi. an University of Technology, Xi. an 710048, China)AbstractT he study on detecting the trajectory of planar controllable linkage mechanism based on computervision was presented. Firstly, a visual detection system with camera as the basic part was formed, andthe problem of data lost in the process of image acquiring has been solved. The sequence image ofobject was acquired by the calibrated camera system, and the trajectory of object was gained by thealgorithms of image processing, object detection and location. The visual detection method for planarcontrollable mechanism has been realized, and the result is satisfactory.Keywords Controllable linkage mechanism, Trajectory detection, Computer visionl: 2007-07-12*SE1S(I|: 50575180)vpV+ vN pV3, 710048 gr vN q pV3=f vN qVetV9LHmZTe,aVLC?i?LCE,C1sBbM,VeELC1 3 ,4BtVeLCEZEbYL,VeE3VseEaqSHqaW#yY,L=3EEWib4B9j$VeE_ZE,y9j$VeESdb1 VeE|m1U=1T,qABMz,qDEz,s9LHebXqjli ( i=1, 2, 3, 4, 5)#qHiaH# iaH#i( i=1, 4)b4C_,5V|s2qABaDE1FBCD,FEVE 4bm1 UimFig. 1 Sketch of a 2-DOF controllable linkage mechanism2 j$_dT,.d_ZE4iT,yN9j$ZELCE_b/:T.# J .d, 2003, 18( 2) : 163 167.LiSuoping, Liu Kunhui. Optimized dynamic exponential smoothing model and its application J . Journal of SystemsEngineering, 2003, 18(2): 163 167. (in Chinese)7 Lai K K, Yu L, Wang S. Hybridizing exponential smoothing and neural network for financial time series predication C M6th International Conference on Computational Science, Reading, United Kingdom, 2006, 3994: 493 500.8 f.EM .:Sd9, 1996.9 C,+.bWsE J .d, 2004, 22( 2) : 97 100.Song Julong, Qian Fucai. Golden-section in three dimensional space J . Systems Engineering, 2004, 22( 2): 97 100.( in Chinese)10 w,nt J .jo.mM .:S, 2002.168j 2 0 0 8M