Calibrating a system with a conveying means and at least one robot

The invention relates to a method for calibrating a system with a conveying means (30), e.g. conveyor belt, a first robot (10), a transport position-determining means (40), e.g. rotary encoder or camera, and with a measuring point system (W1) transported on the conveying means (30), e.g. component having at least three measuring points (Pi,j). The passing of the component (W1) is detected by the transport position-determining means (40) and established as a synchronisation position. The position of the three measuring points (Pj,j) of the component (W1) is detected by the first robot (10) in afirst transport position ([delta]a) or at a first distance from the synchronisation position. The position of one of these measuring points (Pj,j) is detected by the first robot (10) in a second transport position ([delta]b). The position of two or one of these measuring points (Pj,j) is detected by a second robot (20) in a third or fourth transport position ([delta]c, [delta]d). The calibrationoccurs in that, from the m