METHOD FOR MEASURING POSE OF ROBOTIC END TOOL

A method for measuring a pose of a robotic end tool, including: obtaining a three-dimensional feature of a flange and a three-dimensional feature of the end tool, establishing a first coordinate system and a second coordinate system at the center of the flange and the center of the end tool respectively, calculating a positional offset of the second coordinate system relative to the first coordinate system, and calculating a rotation offset of the second coordinate system relative to the first coordinate system according to each unit vector of the second coordinate system, so as to obtain a pose of the end tool relative to the flange. The method provided in the present application, compared with the manual observation method, the precision and stability of the pose measurement method are high.