Development and Implementation of Orthogonal Planes Images Method for Calibration of Tool Centre Point

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 540)


This paper presents a system for automated calibration of the robot’s tool centre point (TCP). The main aim is to present innovative solutions and procedures developed and implemented in order to overcome theoretical and practical challenges encountered during realization of the calibration unit. The idea to analyse images from two orthogonal planes in order to identify TCP serves as a foundation for all features and procedures and offers a number of advantages to the system. Using a camera system, the TCP’s calibration can be performed in very short time, which enables frequent checks to ensure production quality without losing valuable time resources. The calibration unit and all procedures are designed and developed as a self-sufficient fully automated system that does not require any additional components or operator intervention in normal operation. This makes the system suitable for integration in highly automated production facilities such as factories of the future.


Robot TCP calibration Camera system Industrial application 



During this work, tests were made with the calibration unit designed and built by ADAT s.r.l. The solution is patent pending N.: TV2014A000165, as listed in [6].


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.School of Electrical EngineeringUniversity of BelgradeBelgradeSerbia
  2. 2.Advanced Automation Technologies s.r.lConeglianoItaly

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