Abstract: In view of problem of inaccurate calculation of joints twitching caused by belt jitter, deviation and speed changes of powerful conveyor belt, a detection method of joints twitching based on joint image registration was proposed. The joint image of the secondary acquisition is registered, and the Y-difference method is used to locate the joints in the registration image. Distances of all the joint points are calculated and compared with the reference image to obtain the joint twitching distance. The change trends of all joints can be obtained according to the twitching distance. Experimental results show that the method has high accuracy and can meet practical application requirements.