Tool center point (tcp)

Point/ center of points of the tool which are in contact with the workpiece. The TCP is described by a plane (tool frame) to define the position and orientation of the end-of-arm tool with respect to the base frame.

Learn more about TCP and how to configure it at UR acadamy Lesson 3.

Learn more about Tool Frames at UR acadamy Lesson 7.

Learn more about at Position and Orientation in Space at QUT robot acadamy.