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Calibration for camera system of robot vision using point correspondence relation from cartesian coordinates

We have developed an algorithm by attaching the camera to the end-effector of an industrial 6 axis robot which determines position and orientation of the camera system from cartesian coordinate. When the camera is attached to the end-effector of an industrial robot with a calibration mask that has more than 8 points, it has been proved that it is possible to determine the position and orientation of the camera system even without special measuring equipment.