Image processing routines for automated lens pickup have been implemented. That includes routines for calibrating camera coordinate systems with the robot base coordinate system and for finding out translational and rotational offsets between robot TCP and target camera view (camera attached to robot TCP or to micromanipulator).

Sensitivity analysis (power plot) regarding tipping and tilting of resonator mirror has been implemented with the micromanipulator performing steps of five millidegrees each 50 milliseconds. The limits of the system have not been touched yet.