Methods of Calibrating the Orientation of the Industrial Robot Tool

The mathematical models underlying the methods of the calibration of the tool, fixed on the industrial robot installation flange, are considered. The software and mathematical support that implements these methods provides the functions of control systems of industrial robots connected with putting robots into operation. The calibration procedures are performed when the industrial robot is equipped with a new instrument. The tool calibration is performed in two steps. The first step is to determine the center point of the tool (TCP - Tool Center Point). The second step involves actions to determine the orientation of the rectangular coordinate system, which is associated with the instrument, the beginning of which is placed in TCP. This article is devoted to the study of the second final stage of instrument calibration.