What is the function of the Tool Frame in robotic systems?

The Tool Frame in robotic systems serves a crucial role by defining the position and orientation of the end effector, which is the part of the robot that interacts with its environment, such as a gripper or a tool. This definition is vital as it enables the robot to perform tasks accurately by providing a reference frame relative to which the end effector's movements are calculated and executed.

Understanding the Tool Frame allows programmers and operators to specify how the robot should manipulate objects, ensuring tasks like pick-and-place or assembly are carried out with precision. The Tool Frame acts as a coordinate system that is aligned with the tool's geometry and is used in conjunction with the robot's base frame to program and control the robot's actions effectively.

In contrast, determining the robot’s weight, calculating power consumption, or establishing communication protocols deal with different aspects of the robotic system and do not pertain to how the end effector operates within its specified workspace. These tasks address robot maintenance, power management, and data transmission, respectively, rather than the direct interaction of the robot with objects in its environment through the Tool Frame.