Glossary

Explanations and Definitions

TCP = Tool Center Point

Explanation: Point in space at which the tool acts. E.g. centre point between two (parallel) gripper jaws, centre point between several grippers, suction cup surface centre point.

Overshoot radius

A waypoint is not approached directly during contouring. Instead, the next target point is approached from the set radius. The larger the set overshoot radius, the sooner the movement is shortened and the smoother it becomes.