Coordinate Systems

The section describes the coordinate systems used in Vision Guide 8.0.

Image Coordinate System

The image coordinate system is used for the camera video buffer and video display. Units are in pixels.

Camera Coordinate System

The camera coordinate system is physical coordinates in the camera field of view. Units are in millimeters. To obtain coordinates in this system, a camera must be calibrated using any of the camera orientations.

Robot Coordinate System

The robot coordinate system is physical coordinates which the robot has. Units are in millimeters. To obtain coordinates in this system, a camera must be calibrated using camera orientation in the robot coordinate system.
For details on the robot coordinate system, refer to the following.
"Epson RC+ 8.0 User’s Guide"

Robot Coordinate System of a SCARA Robot

Symbol	Item
a	Center of Joint #3
b	Origin

Robot coordinate system Z axis

Robot coordinate system U axis