Hello UR community,
I have a task at hand to create a program utilizing two sensors for the detection and calibration of the TCP on a UR5e robot. The idea is to move the robot’s tip through one sensor to determine the midpoint for one axis, repeat the process with a second sensor for another axis, and set the Z-axis when it breaks the beams of both sensors.
The creation of the sensors is not an issue, but I am seeking guidance on programming the robot to execute the correct movements and adjustments accurately.
I am aware of commercially available products such as AIM Robotics TCP calibration tool; however, with an MSRP of $3,000, it unfortunately exceeds our budget constraints.
As a relatively new user with two UR5e projects in progress, I am reaching out to the community for any available resources or general guidance on developing this specific calibration program.
Thank you in advance for any assistance or insights you can provide.
It shouldn’t be too difficult. However, I think you will need some reference numbers. For instance making a reference tool, which you can move through the sensors to get a “zero”-point, which you can offset later tool measurements from.
Then I would do something like this. 
The result will not be the midpoint of the tool, so you will have to subtract the width of the tool or something, as well, but I reckon you’ll figure that out yourself.
