title: How to calibrate a camera and a robot
body: <p>I have a robot and a camera. The robot is just a 3D printer where I changed the extruder for a tool, so it doesn't print but it moves every axis independently. The bed is transparent, and below the bed there is a camera, the camera never moves. It is just a normal webcam (playstation eye).</p>
  
  <p>I want to calibrate the robot and the camera, so that when I click on a pixel on a image provided by the camera, the robot will go there. I know I can measure the translation and the rotation between the two frames, but that will probably return lots of errors.</p>
  
  <p>So that's my question, how can I relate the camera and a robot. The camera is already calibrated using chessboards.</p>
  
  <p>In order to make everything easier, the Z-axis can be ignored. So the calibration will be over X and Y.</p>