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Determine tool frame (aka measuring tool center point)

asked 2019-02-25 19:21:10 -0600

gonzalocasas gravatar image

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?

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answered 2019-02-26 02:37:12 -0600

gvdhoorn gravatar image

See whether Jmeyer1292/tool_point_calibration works for you.

A more generic suite of calibration tools can be found in Jmeyer1292/robot_cal_tools.

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Thanks! Exactly what I was looking for!

gonzalocasas gravatar image gonzalocasas  ( 2019-02-26 04:36:58 -0600 )edit

Let us know what your experiences are with that package.

gvdhoorn gravatar image gvdhoorn  ( 2019-02-26 05:50:50 -0600 )edit

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Asked: 2019-02-25 19:21:10 -0600

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Last updated: Feb 26 '19