[mabo1989]

Hello,

 how do I set a remote tool centre point for a robotic arm? Example of a remote tool centre point: I have a static tool (for example drill, laser), the sample is mounted on the robot and  I want the robotic arm to move relative to the static tool. 

Best regards 

Marek

[Jeremy]

Hi Mabo,

There's not ONE good way of doing that, but one simple method is to first have a tool with a "sharp tip", like a pen or something like that. You calibrate the TCP using the standard 4 points method. Then you use this TCP to probe the position of the remote TCP. If you only need the XYZ position, probing only one point should be enough, but if you also need the orientation, you might need to take 2 or more points and manually extrapolate the angle.

Jeremy