Trajectory control method for MOTOMAN robots based on machine vision has strong flexibility,it can be well applied to glue coating, cutting and other operations of MOTOMAN robot.By using Zhang’s calibration method，the inernal and external parameter matrixes of the CCD camera were calculated, and the transformation relation between image coordinate system and robot coordinate system was analyzed;the advantages and disadvantages of background difference method and binarization were analyzed,the background difference method and binarization detection method were used to extract the features of target trajectory images captured by CCD camera; the feature image was refined and denoised; for the ordered points obtained after processing the extracted target, the Motocom32 library function was encapsulated; the realtime control of MOTOMAN industrial robot was realized by the robot calling the Motocom32 library function. The accuracy of the method was verified by experiments