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This paper introduces an enhanced method to analytically identify an unknown tool centre point (TCP) of standard industrial robots with six degrees of freedom. The method uses a mathematical closed form to determine the position and orientation (pose) of a mounted robot tool frame in relation to the robot flange frame. This unknown pose is represented by a homogeneous transformation that is calculated by performing two robot movements. The position and orientation of the robot is measured afterdoi:10.12720/ijmse.3.1.12-18 fatcat:ohjk3hzykbdonhxfser7eupxty