The principle of robot grasping film

For example, if you use a robot to move an object from platform A to platform B, how can the robot determine the position of the object on platform A? Then a basic coordinate system XYZA will be established on platform a, and the robot has its own coordinate system XYZO. The relationship between XYZA and XYZO is generally fixed. If we know the position of the object on the platform A of XYZA coordinate system at this time, we can calculate its position in XYZO coordinate system, and then the robot will know the grasping position. On platform B, the same is true. In fact, it is the transformation between coordinate systems.