Automatic calibration of tool center points

In many robot applications, such as dispensing or welding, the tool is constantly changing due to wear or deformation. As these applications often rely on the highest possible accuracy, it is necessary to regularly check and calibrate the tool center point (TCP) of the tool, e.g. after a tool change, after each maintenance, at the beginning of a work shift or even after each process cycle. The recalibration should occur automatically. This minimizes downtime, reduces scrap and rework, and increases the quality of the produced products.