Tool Center Point (TCP) refers to the specific location on a tool or end effector where its movements and operations are measured or controlled. The TCP is a crucial reference point in various industrial applications, such as robotic systems, machining, and automation. The TCP is typically defined as the point at the tip or end of the tool where the desired action or interaction occurs. For instance, in a robotic arm, the TCP represents the position where a tool engages with a workpiece or performs a specific task. By knowing the exact location of the TCP, engineers, and programmers can program and control the movements and actions of the tool accurately. The TCP's coordinates are determined in relation to a fixed reference point, often the robot's base or a specific coordinate system within the workspace. In the field of robotics, the Tool Center Point (TCP) is a crucial concept that plays a vital role in determining the end effector's precise position and orientati...