What is the primary purpose of a TOOL frame in robotics?

The primary purpose of a TOOL frame in robotics is to configure the tool's orientation and position. The TOOL frame establishes a reference point and orientation for the end effector or tool mounted on the robot. This is crucial because it allows the robot to accurately control the position and movement of the tool in relation to the workpiece or environment.

By properly defining the TOOL frame, the robot can perform complex tasks such as welding, painting, or assembly with precision, as it ensures that the tool's movements are correctly aligned with desired locations and angles throughout its operations. This setup is essential for achieving high accuracy and repeatability in robotic tasks.

The other options, while related to robotics, do not capture the primary function of a TOOL frame. Defining the robot's operating environment, establishing safety parameters, and monitoring robot performance are important aspects of robotic systems, but they do not pertain specifically to the configuration of the tool's orientation and position, which is the essential role of a TOOL frame.