A method and system are provided for teaching a robotic accessor the actual location of the center of targets in an automated storage and retrieval system, the actual locations being different from expected or nominal locations due to tolerances in parts and assembly. A bar code scanner, which can also...http://www.google.com.au/patents/US5426581?utm_source=gb-gplus-sharePatent US5426581 - Using a bar code scanner to calibrate positioning of a robotic system
