How to teach a accurate TCP for industrial robot?

You must be using TCP in a way I'm not familiar with -- what are you
using it to mean?

Joe Pfeiffer wrote:

    He means "Tool Center Point".

    The camera and the robot end effector aren't usually at the
same position, and determining the distance between them to
0.001 or so is hard.  See U.S. Patent #6,434,449 for a discussion.

    Usually, the answer is some kind of alignment target in the
workspace, one that can both be seen and can sense the end effector
A simple solution is a plate with a hole.  The camera
finds the hole, and moves the end effector carefully to the hole,
then moves it around to touch the sides of the hole, which is wired to
sense electrical contact.

    Fanuc calls this "TCPmate".

                John Nagle

John, is there anything you don't know? :)


--
Curt Welch                                            http://CurtWelch.Com/
curt@kcwc.com                                        http://NewsReader.Com/

Curt Welch wrote:

   I had to look it up, but I've had to deal with robot manipulator
calibration.   You usually need something in the workspace that can
be used as a reference point.

                    John Nagle

Thanks -- it was indeed a meaning of TCP that this computer geek
wasn't familiar with!