Use ssh-keygen on the local server to generate public and private keys.
Note: When prompted to enter the phrase, press Enter and do not enter any passwords here.
Use ssh-copy-id to copy the public key to the remote server.
ssh-copy-id -i ~/.ssh /id_rsa.pub 192.168.200.10
Note: The above will prompt you for the password of your account on the remote host and copy the public key automatically to the appropriate location [previous IP number corresponding to the IP of the remote server].
Ready. This is quite useful even to transfer files by cronjob with rsync over ssh.