Importance of Setting Robot’s Tool Reference Frame

As the fingers of the gripper can be designed by the end-users, the Tool Center Point (TCP) of the end-effector varies from one location to another. Hence, it is necessary to set TRF accordingly to prevent any collision from happening.

Author: Ho Xiu Ting
Date: 12th October 2021

 

What is Tool Reference Frame (TRF)? It is a workspace that pre-locates relatively to the end-effector that was installed at the robot’s flange. The workspace of the robot depends on the choice of TRF. If the end-effector is long, the reach of the robot will extend but there will be certain positions where the robot cannot reach due to the length. Hence, the boundary is not equivalent to the entire workspace of the robot. The workspace is defined when the end-user or the manufacturer specifies the end-effector that they are using. Otherwise, it is impossible to describe it graphically.

Collision will happen if Tool Center Point (TCP) is not positioned at the center point of the end-effector where the gripping takes place. The path of the selected points will misalign when the TCP is at the wrong location. To prevent this from happening, it is essential to understand how to locate TCP. With the STEP/ CAD file of the end-effector, we can measure the distance from the origin to the center tip of the gripper’s finger to obtain TCP. These coordinates will then translate into robot language and input in the robot.

For example, when the engraving tool is attached to the flange of the robot, TCP must be stated precisely to ensure no mistake was made during the procedure. Simulations will be shown to determine the importance of locating the TCP at the correct position.

 

 

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