The conveyor belt tracking function is the most typical application of industrial robots, widely used in spraying, 3C, loading and unloading industries. Taking linear conveyor belt tracking as the research object, the realtime matrix representation of the object coordinate system under the robot base coordinate system was calculated through the position feedback information of the encoder, the synchronization function from tracking to tracking was realized through the improved tracking algorithm. The experimental results show that in the position mode, the TCP terminal can quickly track and synchronize the items on the conveyor belt real time, the dynamic tracking capture of the target is realized.