Method of obtaining the relation between coordinate systems of two robots uses imaging cameras on each robot directed at three marks for different robot positions

摘要

A method of obtaining the relation between coordinate systems (KS1,KS2) of two robots (R1,R2) comprises having a movable image evaluation camera (2) fixed to each robot, each being directed to three non-co-linear marks (3) and measuring the positions of the marks for many images. For each robot for each mark there are six images for rotationally equal and translationally different robot positions and at least two images with rotationally different positions and the relation between the coordinate system is derived from these measurements.