How to calculate Robot TCP using 4 points?

Hi

Sorry to ask ( i don't know how much you know) but the robot software will calculate it for you.

Do yo want to know the formulas the software uses ? Where would you like to apply your formula ?

My total guess is that (geometrically speaking). You can define 3 spheres were the center point is one of the 3 points you taught and then find the intersection. The four point will be use to find a line (defined by the intersection and the fourth point. the result will be a direction of your tool

I'm positive there's a couple threads on this topic in the archive.

Hi

You missed this part on your initial question " by using sensors."

Now, I understand what you want. I've done that (with sensors) but I think it all depends on the shape of you tool.

Do you have a particular tool shape ? What's the application ?

I've done but it was for a particular application. Waterjet nozzle

There is a thread on the first page of the robot math subforum going over this topic.

Here is a link to it. There are links to older threads within it.

hello my friends,

I have a document for the subject, but it is not in English. If a Turkish source is needed, I can share it.