Abstract：This paper presents a method for calibrating the Tool/Terminal Control Frame (TCF) mounted on a manipulator. The robotic kinematic equations and the transformations between two coordinate frames were used in this method. This method was applied to our arc welding robot system(6DOF), and the data of the experiments were analyzed.
 Robotic TCF and Rigid-body Calibration Methods, Xuguang Wang and Edward Red,Robotica(1997) volume 15,pp633-644,Printed in the United Kingdom (c)1997 Cambridge University Press  李瑞峰,候琳琪,陶谦. 机器人末端工具参数自动标定方法. 哈尔滨工业大学学报,1998,30(3)  Bernard J, Schroer, Amin Rezapour. Calibration of Robots Used in High Precision Operations. Robotics, 1988,(4):131-143