Which of the following statements about the tool center point (TCP) is true?

• A. It is located at the robot base
• B. It is the center of gravity of the robot
• C. It is the point on the end effector used to define the pose of the tool
• D. It is used only for calibrating the drive motors

Answer: (C)

The tool center point is the designated point on the end effector that defines the tool’s position and orientation in space. In robot programs, you set a tool frame whose origin is at the TCP, so commands specify where the TCP should be and how it should oriented, not the entire robot or its base. The TCP may be offset from the physical tip of the tool, but it remains the reference point used to describe the tool’s pose for planning and control.

It’s not located at the robot base, and it’s not the robot’s center of gravity. It isn’t just for calibrating drive motors; its primary role is to define the tool’s pose for accurate positioning and orientation during tasks.