TCP identification of contactless measurement systems [articol]

Abstract

This paper describes an algorithm to determine the robot tool transformation and tool center point (TCP) for contactless measurement systems. Valid types of sensors are those who provide metric information about one or multiple points within the sensors coordinate system. The reference objects are geometrical primitives (planes, spheres). The algorithm starts with estimated values for the tool transformation and the reference object definition and optimizes them in an iterative process. The optimisation result is tested for convergence with a simulation.