![]() The TCP offset is set to to 210 mm (below center) which allows it to compensate a ☑0 mm error in the approach direction. In the example below, the offset between the flange and the fully-extended suction cup bellows is 220 mm (below left), and the bellows can compress up to 20 mm. ![]() Having such compliance helps to produce a firmer grasp, absorbs picking errors in the approach direction, and can help to prevent robot stops when unforeseen tool collisions take place. This element compresses to a certain extent when picking, and after retreating it goes back to its original uncompressed state. ![]() It is often desirable for tools to have a compliant element along the pick approach direction, typical examples being suction cup bellows or springs. To make sure you are rotating around the tool frame and not the robot frame, you can perform the above rotations with the tool tilted with respect to the vertical. ![]()
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January 2023
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