How to get transform between two fixed frames using a camera

Lisa 2022-05-16

In my task, I have two manipulators: one ur16e robot (Manipulator 2 as shown in attached link picture), and one passive arm (Manipulator 1 as shown in attached link picture). Both the frames 1 and 2 are fixed. I would like to transfer the movement that I have with respect to the frame 1 to the frame 2 of the robot, for this I need to compute the transform between the two fixed frames. To this end I would like to use a camera for defining the frames, how can I get the frames axes using the camera?

Thank you in advance for any helpful insights!

bcastets 2022-05-16

Would it be possible to install a Robotiq visual offset tag on the Manipulator 1 so that the UR16 get the reference positive of the manipulator 1 ?

You can have a look at how works the visual offset tag offset with the following video:
https://elearning.robotiq.com/course/view.php?id=5&section=14

Lisa 2022-05-17

Hi bcastets,

thank you for your reply! I would control my robot via RTDE and won't use the TEACH Pendant, I would like a solution allowing me to receive data from the camera but in remote control. Many thanks :)

bcastets 2022-05-17

It is possible to make a short program with the camera that just take a picture to get the visual tag position and send it to an other machine.
You can execute a program via the dash board server for example.