The end effector, also known as the Tool Center Point (TCP), is the tool or device mounted at the very end of a robot arm that comes into direct contact with the work object. It performs the robot’s actual task, such as gripping, welding, cutting, suction, or measuring.
The TCP refers to the mathematically defined point on the end effector that the robot’s movement is aligned to. It serves as a reference for the precise control and programming of the robot’s movements in space.