{"id":113432,"date":"2024-06-06T09:43:15","date_gmt":"2024-06-06T01:43:15","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=113432"},"modified":"2025-08-26T09:16:36","modified_gmt":"2025-08-26T01:16:36","slug":"how-to-re-establish-3d-eth-relationships-after-movement","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/de\/docs\/how-to-re-establish-3d-eth-relationships-after-movement\/","title":{"rendered":"How to Re-Establish 3D ETH Relationships After Movement"},"content":{"rendered":"<p>Examples are valid for :<\/p>\n<p>TMflow Software version: All versions<\/p>\n<p>TM Robot Hardware version: HW3.2 or above versions<\/p>\n<p>Other specific requirements:<\/p>\n<ul>\n<li>3D camera<\/li>\n<li>Landmark<\/li>\n<li>Robot with 2D Camera<\/li>\n<\/ul>\n<p>Note that older or latest software versions may have different results.<\/p>\n<hr \/>\n<p>&nbsp;<\/p>\n<h2>Purpose<\/h2>\n<ul>\n<li>We can establish the relationship between the robot and the 3D camera through ETH calibration, as illustrated by the green line in the figure below.<\/li>\n<li>If the robot or the table is moved, this will alter the relationship between the 3D camera and the robot, as shown by the red line in the figure below. In this case, the relationship becomes unknown.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/4.png\"><img loading=\"lazy\" class=\"size-full wp-image-119209 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/4.png\" alt=\"\" width=\"1280\" height=\"512\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/4.png 1280w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/4-300x120.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/4-1024x410.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/4-768x307.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/4-360x144.png 360w\" sizes=\"(max-width: 1280px) 100vw, 1280px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<ul>\n<li>At this point, we can fix a landmark at one corner of the table and use the position of the landmark to re-establish the ETH relationship between the 3D camera and the robot.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/5.png\"><img loading=\"lazy\" class=\"size-full wp-image-119215 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/5.png\" alt=\"\" width=\"1274\" height=\"573\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/5.png 1274w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/5-300x135.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/5-1024x461.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/5-768x345.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/5-360x162.png 360w\" sizes=\"(max-width: 1274px) 100vw, 1274px\" \/><\/a><\/p>\n<h2>Definition of Symbols<\/h2>\n<ul>\n<li><span style=\"color: #0000ff;\"><strong><i><sup>B<\/sup>T<sub>A<\/sub>\u00a0<\/i><\/strong><\/span>represents the transformation relationship from A base to B base.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7.png\"><img loading=\"lazy\" class=\"size-full wp-image-119221 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7.png\" alt=\"\" width=\"466\" height=\"200\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7.png 466w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7-300x129.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7-360x155.png 360w\" sizes=\"(max-width: 466px) 100vw, 466px\" \/><\/a><\/p>\n<ul>\n<li><span style=\"color: #ff0000;\"><strong><i><sup>A<\/sup>P<sub>object<\/sub> \u00a0<\/i><\/strong><span style=\"color: #000000;\">represents the position of an object in A base<\/span><\/span><\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7_.png\"><img loading=\"lazy\" class=\"size-full wp-image-119227 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7_.png\" alt=\"\" width=\"368\" height=\"215\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7_.png 368w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7_-300x175.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/7_-360x210.png 360w\" sizes=\"(max-width: 368px) 100vw, 368px\" \/><\/a><\/p>\n<h2>Advantages of Built-in Vision for the Robot<\/h2>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/9.png\"><img loading=\"lazy\" class=\"size-full wp-image-119233 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/9.png\" alt=\"\" width=\"1453\" height=\"649\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/9.png 1453w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/9-300x134.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/9-1024x457.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/9-768x343.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/9-360x161.png 360w\" sizes=\"(max-width: 1453px) 100vw, 1453px\" \/><\/a><\/p>\n<h2>Base Transformation Relationship<\/h2>\n<h3>Fixed Robot Base\/Camera<\/h3>\n<ul>\n<li>Under normal circumstances, we can obtain the relationship<span style=\"color: #0070c0;\"> <strong><i><sup>Robot<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><em><strong><span style=\"color: #0070c0;\">\u00a0<\/span>(3D ETH Camera Calibration)<\/strong><\/em><\/span>through ETH calibration, which defines the workspace.<\/li>\n<li>Through vision job in TMflow, we can obtain<span style=\"color: #00ccff;\"> <strong><i><sup>Robot<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span>, which represents the position of the object in the Robot Base.<\/li>\n<li>At this point, the relationship<span style=\"color: #99cc00;\"> <strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong><\/span>\u00a0 is unknown in TMflow. We need to derive <span style=\"color: #99cc00;\"><strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong> <\/span>\u00a0using <span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0and <span style=\"color: #00ccff;\"><strong><i><sup>Robot<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span>. This derived relationship describes the object\u2019s pose in the 3D Camera Base.<\/li>\n<li>The relationship is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #00ccff;\"><strong><i><sup>Robot<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span>=<span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>3D Cam<\/sub><\/i>\u2219<span style=\"color: #99cc00;\"><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/span><\/strong>\u2219<span style=\"color: #000000;\"><strong><i><sup>world<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11.png\"><img loading=\"lazy\" class=\"size-full wp-image-119239 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11.png\" alt=\"\" width=\"806\" height=\"625\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11.png 806w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11-300x233.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11-768x596.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11-360x279.png 360w\" sizes=\"(max-width: 806px) 100vw, 806px\" \/><\/a><\/p>\n<h3><span lang=\"EN-US\">Before Moving- Unfixed Robot Base\/Camera<\/span><\/h3>\n<ul>\n<li>Place the landmark at a fixed position on the table.<\/li>\n<li>Next, create a vision job to locate the landmark and obtain the Vision Base of the landmark, denoted as\u00a0<span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sub>LM<\/sub><\/i><\/strong>.<\/span> The relationship is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sub>LM<\/sub><\/i><\/strong><\/span>=<span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>2D Cam<\/sub><\/i>\u2219<span style=\"color: #ff9900;\"><i><sup>2D Cam<\/sup>T<sub>LM<\/sub><\/i><\/span><\/strong><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12.png\"><img loading=\"lazy\" class=\"size-full wp-image-119246 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12.png\" alt=\"\" width=\"647\" height=\"519\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12.png 647w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12-300x241.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12-360x289.png 360w\" sizes=\"(max-width: 647px) 100vw, 647px\" \/><\/a><\/p>\n<ul>\n<li>At this point, <span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>3D Cam <\/sub><\/i><\/strong><\/span>and <span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sub>LM<\/sub><\/i><\/strong><\/span>\u00a0are known. To obtain the hand-eye relationship after moving, we must first determine the relationship <span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0before moving. The relationship <span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span>=<i><\/i><span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sub>LM<\/sub><\/i><\/strong><\/span>\u00a0<span style=\"color: #0070c0;\"><strong>\u2219<\/strong><\/span><span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13.png\"><img loading=\"lazy\" class=\"size-full wp-image-119252 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13.png\" alt=\"\" width=\"647\" height=\"519\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13.png 647w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13-300x241.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13-360x289.png 360w\" sizes=\"(max-width: 647px) 100vw, 647px\" \/><\/a><\/p>\n<h3><span lang=\"EN-US\">After Moving- Unfixed Robot Base\/Camera<\/span><\/h3>\n<ul>\n<li>Base on the settings before moving, the relationship <span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span> is already known. After moving, capture the LM again to obtain the new relationship of LM relative to the Robot <span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>LM.<\/sub><\/i><\/strong><\/span>\u00a0Combing <span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>LM<\/sub><\/i><\/strong><\/span>, we can derive the new workspace after moving, which is <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0. The relationship is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span>=<span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>LM<\/sub><\/i><\/strong><\/span>\u00a0<span style=\"color: #0070c0;\"><strong>\u2219<\/strong><\/span><span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span><\/p>\n<ul>\n<li>Using the relationship <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span> in combination with <span style=\"color: #99cc00;\"><strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong><\/span>, we can transform the object in the World Base <span style=\"color: #0070c0;\"><span style=\"color: #000000;\"><strong><i><sup>world<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span><\/span>\u00a0to the new Robot Base, which is <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>P<sup>&#8216;<\/sup><sub>object <\/sub><\/i><\/strong><\/span>. The relationship is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>P<sup>&#8216;<\/sup><sub>object<\/sub><\/i><\/strong><\/span>=<span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0<span style=\"color: #0070c0;\"><strong>\u2219<\/strong><\/span><span style=\"color: #99cc00;\"><strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong><\/span><span style=\"color: #0070c0;\"><strong>\u2219<\/strong><\/span><span style=\"color: #0070c0;\"><span style=\"color: #000000;\"><strong><i><sup>world<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14.png\"><img loading=\"lazy\" class=\"size-full wp-image-119266 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14.png\" alt=\"\" width=\"718\" height=\"416\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14.png 718w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14-300x174.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14-360x209.png 360w\" sizes=\"(max-width: 718px) 100vw, 718px\" \/><\/a><\/p>\n<h2>TMflow Configuration<\/h2>\n<h3>Vision Job Localization<\/h3>\n<ul>\n<li>After completing the ETH correction, it is necessary to instruct the picking position.<\/li>\n<li>In step #1, acquire the vision job object\u2019s vision base and variable \u201cBase[\u201cVision_Find_Object_ModelCAD\u201d].value\u201d.<\/li>\n<li>In step #2, teach the picking point \u201cPrepick_Point\u201d through the Vision base.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/16.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-119272\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/16.png\" alt=\"\" width=\"1275\" height=\"694\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/16.png 1275w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/16-300x163.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/16-1024x557.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/16-768x418.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/16-360x196.png 360w\" sizes=\"(max-width: 1275px) 100vw, 1275px\" \/><\/a><\/p>\n<h3>Fixed Robot Base\/Camera<\/h3>\n<ul>\n<li>Under normal circumstances, we can obtain the relationship<span style=\"color: #0070c0;\"> <strong><i><sup>Robot<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><em><strong>\u00a0(3D ETH Camera Calibration)<\/strong><\/em><\/span>through ETH calibration, which defines the workspace.<\/li>\n<li>Through vision job in TMflow, we can obtain<span style=\"color: #00ccff;\"> <strong><i><sup>Robot<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span>, which represents the position of the object in the Robot Base.<\/li>\n<li>At this point, the relationship<span style=\"color: #99cc00;\"> <strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong><\/span>\u00a0 is unknown in TMflow. We need to derive <span style=\"color: #99cc00;\"><strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong> <\/span>\u00a0using <span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0and <span style=\"color: #00ccff;\"><strong><i><sup>Robot<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span>. This derived relationship describes the object\u2019s pose in the 3D Camera Base.<\/li>\n<li>The relationship is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #00ccff;\"><strong><i><sup>Robot<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span>=<span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>3D Cam<\/sub><\/i>\u2219<span style=\"color: #99cc00;\"><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/span><\/strong>\u2219<span style=\"color: #000000;\"><strong><i><sup>world<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11.png\"><img loading=\"lazy\" class=\"size-full wp-image-119239 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11.png\" alt=\"\" width=\"806\" height=\"625\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11.png 806w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11-300x233.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11-768x596.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/11-360x279.png 360w\" sizes=\"(max-width: 806px) 100vw, 806px\" \/><\/a><\/p>\n<ul>\n<li>Add a global variable \u201cg_workspace\u201d and record the calibrated ETH relationship in this variable.<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/18.png\"><img loading=\"lazy\" class=\"size-full wp-image-119278 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/18.png\" alt=\"\" width=\"673\" height=\"594\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/18.png 673w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/18-300x265.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/18-360x318.png 360w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/a><\/li>\n<li>Add the variable \u201cvar_T_ObjectTo3DCam\u201d to describe the transformation <span style=\"color: #99cc00;\"><strong><i><sup>3D Cam<\/sup>T<sub>world.<\/sub><\/i><\/strong><\/span><\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/19.png\"><img loading=\"lazy\" class=\"size-full wp-image-119284 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/19.png\" alt=\"\" width=\"564\" height=\"279\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/19.png 564w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/19-300x148.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/19-360x178.png 360w\" sizes=\"(max-width: 564px) 100vw, 564px\" \/><\/a><\/p>\n<ul>\n<li>After the vision job for object localization, connect a SetNode next.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/20.png\"><img loading=\"lazy\" class=\"size-full wp-image-119290 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/20.png\" alt=\"\" width=\"253\" height=\"239\" \/><\/a><\/p>\n<ul>\n<li>Use the \u2018changeref\u2019 function to change the object\u2019s Vision Base from Robot Base to describe it on the 3D Camera Base, and record this relationship in \u201cvar_T_ObjectTo3DCam\u201d, which is <span style=\"color: #99cc00;\"><strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong><\/span> .<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/20_.png\"><img loading=\"lazy\" class=\"size-full wp-image-119296 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/20_.png\" alt=\"\" width=\"341\" height=\"216\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/20_.png 341w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/20_-300x190.png 300w\" sizes=\"(max-width: 341px) 100vw, 341px\" \/><\/a><\/p>\n<h3><span lang=\"EN-US\">Before Moving- Unfixed Robot Base\/Camera<\/span><\/h3>\n<ul>\n<li>Place the landmark at a fixed position on the table.<\/li>\n<li>Then,create a vision job to locate the Landmark and obtain the Landmark\u2019s Vision Base and the variable Base[&#8220;Vision_Find_LM&#8221;].Value. This relationship is denoted as <span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sub>LM<\/sub><\/i><\/strong><\/span> , and the relationship formula is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sub>LM<\/sub><\/i><\/strong><\/span>=<span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>2D Cam<\/sub><\/i>\u2219<span style=\"color: #ff9900;\"><i><sup>2D Cam<\/sup>T<sub>LM<\/sub><\/i><\/span><\/strong><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12.png\"><img loading=\"lazy\" class=\"size-full wp-image-119246 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12.png\" alt=\"\" width=\"647\" height=\"519\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12.png 647w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12-300x241.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/12-360x289.png 360w\" sizes=\"(max-width: 647px) 100vw, 647px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/21.png\"><img loading=\"lazy\" class=\"size-full wp-image-119302 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/21.png\" alt=\"\" width=\"480\" height=\"205\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/21.png 480w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/21-300x128.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/21-360x154.png 360w\" sizes=\"(max-width: 480px) 100vw, 480px\" \/><\/a><\/p>\n<ul>\n<li>At this point, <span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>3D Cam <\/sub><\/i><\/strong><\/span>and <span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sub>LM<\/sub><\/i><\/strong><\/span>\u00a0are known. To obtain the hand-eye relationship after moving, we must first determine the relationship <span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0before moving. The relationship <span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span>=<i><\/i><span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sub>LM<\/sub><\/i><\/strong><\/span>\u00a0<span style=\"color: #0070c0;\"><strong>\u2219<\/strong><\/span><span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13.png\"><img loading=\"lazy\" class=\"size-full wp-image-119252 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13.png\" alt=\"\" width=\"647\" height=\"519\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13.png 647w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13-300x241.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/13-360x289.png 360w\" sizes=\"(max-width: 647px) 100vw, 647px\" \/><\/a><\/p>\n<ul>\n<li>Next, create the global variable &#8220;g_3DCamToLM&#8221;.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/22.png\"><img loading=\"lazy\" class=\"size-full wp-image-119308 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/22.png\" alt=\"\" width=\"438\" height=\"213\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/22.png 438w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/22-300x146.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/22-360x175.png 360w\" sizes=\"(max-width: 438px) 100vw, 438px\" \/><\/a><\/p>\n<ul>\n<li>Use the \u2018changeref\u2019 function within the set node to change the description of the 3D Camera Base from Robot Base to Landmark\u2019s Vision Base. This relationship is denoted as <span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span>, representing the pose of the 3D Camera in Landmark\u2019s Vision Base.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/23.png\"><img loading=\"lazy\" class=\"size-full wp-image-119314 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/23.png\" alt=\"\" width=\"767\" height=\"329\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/23.png 767w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/23-300x129.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/23-360x154.png 360w\" sizes=\"(max-width: 767px) 100vw, 767px\" \/><\/a><\/p>\n<ul>\n<li>After executing these two nodes, which are the preparatory steps.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/24.png\"><img loading=\"lazy\" class=\"size-full wp-image-119320 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/24.png\" alt=\"\" width=\"123\" height=\"134\" \/><\/a><\/p>\n<ul>\n<li>Once the setup is completed, <span style=\"color: #0070c0;\"><strong><i><sup>Robot<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span> becomes a known value as well.<\/li>\n<\/ul>\n<h3><span lang=\"EN-US\">After Moving- Unfixed Robot Base\/Camera<\/span><\/h3>\n<ul>\n<li>Base on the settings before moving, the relationship <span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span> is already known. After moving, capture the LM again to obtain the new relationship of LM relative to the Robot <span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>LM.<\/sub><\/i><\/strong><\/span>\u00a0Combing <span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>LM<\/sub><\/i><\/strong><\/span>, we can derive the new workspace after moving, which is <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0. The relationship is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span>=<span style=\"color: #8d6100;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>LM<\/sub><\/i><\/strong><\/span>\u00a0<span style=\"color: #0070c0;\"><strong>\u2219<\/strong><\/span><span style=\"color: #7030a0;\"><strong><i><sup>LM<\/sup>T<sub>3D Cam<\/sub><\/i><\/strong><\/span><\/p>\n<ul>\n<li>Using the relationship <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span> in combination with <span style=\"color: #99cc00;\"><strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong><\/span>, we can transform the object in the World Base <span style=\"color: #0070c0;\"><span style=\"color: #000000;\"><strong><i><sup>world<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span><\/span>\u00a0to the new Robot Base, which is <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>P<sup>&#8216;<\/sup><sub>object <\/sub><\/i><\/strong><\/span>. The relationship is as follows:<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>P<sup>&#8216;<\/sup><sub>object<\/sub><\/i><\/strong><\/span>=<span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span>\u00a0<span style=\"color: #0070c0;\"><strong>\u2219<\/strong><\/span><span style=\"color: #99cc00;\"><strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong><\/span><span style=\"color: #0070c0;\"><strong>\u2219<\/strong><\/span><span style=\"color: #0070c0;\"><span style=\"color: #000000;\"><strong><i><sup>world<\/sup>P<sub>object<\/sub><\/i><\/strong><\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14.png\"><img loading=\"lazy\" class=\"size-full wp-image-119266 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14.png\" alt=\"\" width=\"718\" height=\"416\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14.png 718w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14-300x174.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/14-360x209.png 360w\" sizes=\"(max-width: 718px) 100vw, 718px\" \/><\/a><\/p>\n<ul>\n<li>Set <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/00.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-119326\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/00.png\" alt=\"\" width=\"71\" height=\"39\" \/><\/a> the initial position to a location where it can capture the Landmark.<\/li>\n<li>First, set the Landmark\u2019s vision job <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/01.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-119332\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/01.png\" alt=\"\" width=\"76\" height=\"44\" \/><\/a> before the object\u2019s vision job <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/02.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-119338\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/02.png\" alt=\"\" width=\"78\" height=\"45\" \/><\/a> , as shown in the diagram.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/26.png\"><img loading=\"lazy\" class=\"size-full wp-image-119345 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/26.png\" alt=\"\" width=\"260\" height=\"559\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/26.png 260w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/26-140x300.png 140w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/26-238x512.png 238w\" sizes=\"(max-width: 260px) 100vw, 260px\" \/><\/a><\/p>\n<ul>\n<li>Add the variable \u201cvar_new_workspace\u201d to describe the relationship <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span><strong>.<\/strong><\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27.png\"><img loading=\"lazy\" class=\"size-full wp-image-119351 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27.png\" alt=\"\" width=\"416\" height=\"204\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27.png 416w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27-300x147.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27-360x177.png 360w\" sizes=\"(max-width: 416px) 100vw, 416px\" \/><\/a><\/p>\n<ul>\n<li>In the previous \u2018Set_update_ETH\u2019 set node, use the \u2018changeref\u2019 function to change the pose of the 3D Camera described in landmark\u2019s Vision Base to Robot Base. This action establishes the relationship\u00a0<span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span>, representing the new Workspace.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27_.png\"><img loading=\"lazy\" class=\"size-full wp-image-119357 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27_.png\" alt=\"\" width=\"709\" height=\"296\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27_.png 709w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27_-300x125.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/27_-360x150.png 360w\" sizes=\"(max-width: 709px) 100vw, 709px\" \/><\/a><\/p>\n<ul>\n<li>At this point, the relationship <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span> is also known, indicating that we have obtained a new Workspace.<\/li>\n<li>Next, by combining the new Workspace <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>T<sup>&#8216;<\/sup><sub>3D Cam<\/sub><\/i><\/strong><\/span> with the\u00a0 transformation <span style=\"color: #99cc00;\"><strong><i><sup>3D Cam<\/sup>T<sub>world<\/sub><\/i><\/strong><\/span> , we deduce the object\u2019s new position in Robot Base <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>P<sup>&#8216;<\/sup><sub>object<\/sub><\/i><\/strong><\/span> , which is the object\u2019s new Vision Base. Similarly, using the \u2018changeref\u2019 function, we convert the object\u2019s pose described in the 3D Camera Base to Robot Base, obtaining <span style=\"color: #ff0000;\"><strong><i><sup>Robot<\/sup>P<sup>&#8216;<\/sup><sub>object<\/sub><\/i><\/strong><\/span>.<\/li>\n<li>Finally, record this relationship in the variable \u201dBase[\u201cVision_Find_Object_ModelCAD\u201d].value\u201d of the original object\u2019s Vision Base to update the Vision Base accordingly.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/28.png\"><img loading=\"lazy\" class=\"size-full wp-image-119363 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/28.png\" alt=\"\" width=\"697\" height=\"296\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/28.png 697w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/28-300x127.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/28-360x153.png 360w\" sizes=\"(max-width: 697px) 100vw, 697px\" \/><\/a><\/p>\n<h2>Execute the Project<\/h2>\n<p>Finally, execute this project. The process flow is shown in the diagram below. The picking point \u201dPrepick_Point\u201d will be updated according to the movements of the camera or the robot base.<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/29.png\"><img loading=\"lazy\" class=\"size-full wp-image-119369 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/29.png\" alt=\"\" width=\"260\" height=\"559\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/29.png 260w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/29-140x300.png 140w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/11\/29-238x512.png 238w\" sizes=\"(max-width: 260px) 100vw, 260px\" \/><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Examples are valid for : TMflow Software version: All versions TM Robot Hardware version: HW3.2 or above versions Other specific requirements: 3D camera Landmark Robot with 2D Camera Note that older or latest software versions may have different results. &nbsp; Purpose We can establish the relationship between the robot and the 3D camera through ETH [&hellip;]<\/p>\n","protected":false},"author":8760,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4587],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>How to Re-Establish 3D ETH Relationships After Movement | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"de_DE\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"How to Re-Establish 3D ETH Relationships After Movement | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"Examples are valid for : TMflow Software version: All versions TM Robot Hardware version: HW3.2 or above versions Other specific requirements: 3D camera Landmark Robot with 2D Camera Note that older or latest software versions may have different results. &nbsp; 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