Frame

A frame also called feature is a Cartesian coordinate system which can be defined by a plane. To orient itself in the world, the robot arm needs a frame of reference, which is usually the base frame. The position and orientation of the end-of-arm tool is defined by the tool frame or [[ Tool Center Point (TCP)|TCP ]] with respect to the base frame.

Coordinate Frames gramaziokohler compas fab

Learn more about position and orientation in space at QUT robot acadamy.

Learn more about Frames at UR acadamy Lesson 7.

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Introduction to robotics
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Tool center point (tcp)
Point/ center of points of the tool which are in contact with the workpiece. The TCP is described by a...