Method and apparatus for identifying three-dimensional coordinates and orientation to a robot

In combination with a stereo optical correlation system which uses a computer, and two cameras to locate an object in three dimensions, a process for identifying three-dimensional coordinates and orientation, said process comprising the steps of:

• selectively illuminating at least one three-dimensional reference point on said object with a free-moving light source, said illuminating step identifying the three-dimensional reference point for orientation in three-dimensions, wherein said object is a fixed workpiece, and wherein said illuminating step is performed with a hand-held laser pen which reflects a beam of light off of said fixed workpiece to indicate the three-dimensional reference point on said workpiece;
• detecting said three-dimensional reference point with said two cameras to provide thereby stereo optical data signals;
• and
• calculating the three-dimensional coordinates of the three-dimensional reference point from the stereo optical data signals with the computer.