Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Determine tool frame (aka measuring tool center point)

asked 2019-02-25 19:21:10 -0500

gonzalocasas
180 ●3 ●13 ●13

I've been (unsuccessfully) looking for a package that could work out the tool center point point of a tool attached to the flange of an industrial robot. Some controllers (e.g. ABB's IRC5) contain an implementation of a 4-point method to determine the TCP and it would be very useful if a similar process would be available in ROS directly.

Does anything already exists in this direction? And if not, does the 4-point method cited above have a more official name or theoretical background I could look up?

edit retag flag offensive close merge delete

add a comment