机器人运行轨迹计算，计算机器人指尖运行轨迹，并绘出图形！

基于boundar边界提取轮廓，采用曲率算法确定可能为指尖或者指根点的区域，采用该程序确定指尖指根区域。-Contour extraction based on boundar border, using the curvature method to determine the root may refer to point fingers or regions that use the procedure to determine the root area fingertips.