What is a Tool Frame in robotics?

• A. A static reference frame for the facility layout.
• B. A frame that tells the robot what end effector is attached to it.
• C. A device that measures tool wear.
• D. A digital document describing tool usage.

Answer: (B)

Tool frame is the coordinate system attached to the robot’s end effector that defines where the tool is and how it’s oriented relative to the robot arm. This frame tells the controller exactly where the end effector sits in space and how it’s angled, so movements and trajectories can be planned with the tool’s geometry in mind. When you swap tools, you establish a new tool frame to reflect the new tool’s shape and how it’s mounted, ensuring that all motion commands are accurate for the installed tool. It’s what makes precise positioning possible for tasks like welding, gripping, or drilling, because the robot can convert commands in task space into the correct joint movements based on the known relation between the tool frame and the robot. This concept is different from a static reference frame for the facility, a device that measures tool wear, or a digital document describing tool usage.