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The multi-camera visual motion capture system can obtain the kinematic parameters of the moving object by capturing the space coordinates of the marked points. This paper proposes a general object motion data capture method based on the multi-camera motion capture system. First, obtain the instantaneous coordinates of the corresponding mark points during the movement of the object according to the fixed model composed of three mark points, and then use the vector method to solve the object pose corresponding to each collection point of the measured object during the movement, and then eliminate it by the Kalman filter method. Due to the influence of system and environmental errors in the motion capture process, a smooth object pose movement trajectory is obtained, and the corresponding velocity, acceleration, angular velocity, and angular acceleration of the object at each collection point are calculated according to the filtered data. Finally, the object motion data capture experiment based on the collaborative robot verifies the correctness of the proposed object motion data capture method.