The Algorithm for Determining the TCP Point of a 2D Scanner Using a Conical Element

In the engineering practice of performing robotic measurements with a 2D scanner, a major difficulty is to accurately determine the tool center point (TCP) quickly and easily since it does not exist as a physical object. The article proposes an algorithm for determining the coordinates of the TCP point. It relies on the possibility of using a conical element, such as a milling cutter of unknown geometry. So far, the algorithms found in the literature were based on a sphere of known size. The presented solution was simulated in RobotStudio 2019 software, while calculations were performed in Maple 14 software. In addition, the correctness of the presented solutions was verified on a real object, an IRB 2400 robot equipped with a Keyence 2D scanner.