Final answer:
The 3-point method for setting the TOOL frame involves teaching three points to define the X, Y, and Z axes of the tool's orientation relative to the robot's base coordinate system. The first point defines the Z-axis, the second point defines the X-axis, and the third point establishes the Y-axis direction.
Step-by-step explanation:
The 3-point method is used in robotic programming to define a TOOL frame (also known as a tool center point or TCP) which involves specifying the position and orientation of the tool attached to the robot arm relative to the robot's base coordinate system. To set the TOOL frame using the 3-point method, the following steps are commonly taken:
- Teach the first point at the tip of the tool to establish the Z-axis direction.
- Teach the second point with the tool moved in a position that is perpendicular to the first point. This helps in determining the X-axis direction.
- Teach the third point with the tool moved in a way that defines the plane of the X-axis and Z-axis; this point helps to establish the Y-axis direction.
During these steps, the robot's system uses the positions of these taught points to calculate the orientation of each axis and thus defines the TOOL frame which informs the robot controller how the tool is oriented in space.