{
  "abstract": "This disclosure describes an arrangement for verifying the tool centre point (TCP) of a robotic manipulator using a three-plane touch routine against a fixed reference artefact. The method addresses inaccuracies arising from tool changes, damage, or mounting variations, which can silently shift the TCP and compromise process precision. By probing multiple defined surfaces of a precisely manufactured artefact, the system determines the current TCP location relative to a known datum. Deviation from a pre-defined nominal TCP triggers an alarm, and the routine is configured to differentiate between tool deformation and shifts in the tool's mounting base, enabling targeted corrective actions.",
  "canonical_url": "https://opentechnical.org/p/OT-2026-000000025",
  "categories": [
    "tools-tooling/robotic-tools/tool-centre-point-systems",
    "sensors-controls-machine-vision/position-and-presence-sensing/inductive-sensors"
  ],
  "extent": {
    "figures": 3,
    "paragraphs": 17,
    "words": 2500
  },
  "figures": [
    {
      "caption": "This diagram illustrates the primary components of the tool centre point verification system.",
      "derivative": {
        "file": "figures/fig-001.png",
        "media_type": "image/png",
        "sha256": "0433fd7ddb7a4869e47cfb916c0993c590cce96813152115a4ea018fb687c111"
      },
      "file": "figures/fig-001.svg",
      "number": "FIG-001",
      "sha256": "124f53a8eba2fb8a170ca231e9d968e08748f0cc641308f6c7943b9148ff2ef5"
    },
    {
      "caption": "This drawing shows the relevant features and dimensions of a representative reference artefact.",
      "derivative": {
        "file": "figures/fig-002.png",
        "media_type": "image/png",
        "sha256": "23aa89c91306f7f5764c31ff8ddb0e96579ef7e55f89af1612ca9fa97954d190"
      },
      "file": "figures/fig-002.svg",
      "number": "FIG-002",
      "sha256": "b6628664f078f92dedaf1589db71ad4f506b78ad730073e1040c31208e5dd38d"
    },
    {
      "caption": "This diagram outlines the flow of data within the control system during the verification process.",
      "derivative": {
        "file": "figures/fig-003.png",
        "media_type": "image/png",
        "sha256": "8b49171bc04a3a9cda586c8b0f99682e5fea3a1a0f27b8085bf63f34320d3c3d"
      },
      "file": "figures/fig-003.svg",
      "number": "FIG-003",
      "sha256": "826224ba4ff4e65ae1df3ade1c9841a32eaf1f0453875015064b3d8ee3be0fb5"
    }
  ],
  "files": [
    {
      "bytes": 36266,
      "media_type": "image/png",
      "name": "figures/fig-001.png",
      "sha256": "0433fd7ddb7a4869e47cfb916c0993c590cce96813152115a4ea018fb687c111"
    },
    {
      "bytes": 5165,
      "media_type": "image/svg+xml",
      "name": "figures/fig-001.svg",
      "sha256": "124f53a8eba2fb8a170ca231e9d968e08748f0cc641308f6c7943b9148ff2ef5"
    },
    {
      "bytes": 45803,
      "media_type": "image/png",
      "name": "figures/fig-002.png",
      "sha256": "23aa89c91306f7f5764c31ff8ddb0e96579ef7e55f89af1612ca9fa97954d190"
    },
    {
      "bytes": 7143,
      "media_type": "image/svg+xml",
      "name": "figures/fig-002.svg",
      "sha256": "b6628664f078f92dedaf1589db71ad4f506b78ad730073e1040c31208e5dd38d"
    },
    {
      "bytes": 35433,
      "media_type": "image/png",
      "name": "figures/fig-003.png",
      "sha256": "8b49171bc04a3a9cda586c8b0f99682e5fea3a1a0f27b8085bf63f34320d3c3d"
    },
    {
      "bytes": 5189,
      "media_type": "image/svg+xml",
      "name": "figures/fig-003.svg",
      "sha256": "826224ba4ff4e65ae1df3ade1c9841a32eaf1f0453875015064b3d8ee3be0fb5"
    },
    {
      "bytes": 29560,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "8507b2245d4571e88c352826d0433f51c4c4a016bf7ff37157bc79fa1c1191d0"
    },
    {
      "bytes": 17622,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "a2ae00056caa30b4e976c533cfbda09cebdd113feed3f67041704ac7a3f97905"
    },
    {
      "bytes": 17691,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "ce9ba310394f282c1f3e6dd3291733dbf54f47fcf808c9cab3d36a2f5752a74c"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000000025/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "robotics",
    "tool center point",
    "calibration",
    "metrology",
    "touch probe",
    "reference artefact",
    "deviation detection",
    "kinematics",
    "tool offset"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000000025",
  "published_at": "2026-09-15T19:01:26.244279Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
  "schema": "opentechnical-publication-manifest/1.0",
  "supersedes": null,
  "title": "Robotic Tool Centre Point Verification Using Three-Plane Reference Artefact",
  "uuid": "01a0a672-0860-7bb6-a22d-022015e7b1b5"
}