機械手臂夾具

A jig for accurate manipulation of tools held by a robot arm is disclosed. The robot arm jig includes a connecting portion, a positioning portion, and a holder portion. The connecting portion is mounted to the last link of a robot arm. The positioning portion contains several active or passive markers to be used for accurate tracking of the position and pose of the jig, and the holder is design to hold tools. These three parts is manufactured as a rigid set or from a rigid material, so that once the relative position and orientation between the positioning portion and the holder is known, accurate poison and pose of the tool hold by the holder can be obtained by tracing the markers. The jig has accurate positioning function.