Abstract: A method for calibrating a robot coordinate system of a robot with a conveyor coordinate system of a movable conveyor member, the method including providing a sensor configured to detect positions of the robot in a non-contact manner; detecting a position of the robot when the conveyor member is positioned at a first operating position; detecting a position of the robot and/or of the conveyor member by the sensor in the sensor coordinate system when the conveyor member is positioned at a second operating position different from the first operating position; and determining a relationship between the robot coordinate system and the conveyor coordinate system based on at least one detected position of the robot in the sensor coordinate system. A robot system and a control system are also provided.

Abstract: A method and a control arrangement for determining a relation R?MA between a robot coordinate system of a robot and an MA coordinate system of a moveable apparatus, the movable apparatus including a sensor device and a localization mechanism configured to localize a sensor coordinate system of the sensor device in the MA coordinate system, wherein a marker is arranged in a fixed relation with a reference location on the robot. The method includes positioning the marker in a plurality of different poses in relation to the robot coordinate system. For each pose of the plurality of different poses, the method includes: determining, on the basis of sensor information, a relation C?M between the sensor coordinate system and a marker coordinate system; determining a relation MA?C between the MA coordinate system and the sensor coordinate system; determining a relation R?E between the robot coordinate system and a reference location coordinate system.

Abstract: A method for calibrating a robot coordinate system of a robot with a conveyor coordinate system of a movable conveyor member, the method including providing a sensor configured to detect positions of the robot in a non-contact manner; detecting a position of the robot when the conveyor member is positioned at a first operating position; detecting a position of the robot and/or of the conveyor member by the sensor in the sensor coordinate system when the conveyor member is positioned at a second operating position different from the first operating position; and determining a relationship between the robot coordinate system and the conveyor coordinate system based on at least one detected position of the robot in the sensor coordinate system. A robot system and a control system are also provided.