I'm currently working on calibration of robot tool. I have found some simple methods to get the tool centre point. But I'm sure how to get the tool orientation wrt the robot's tip (the point where the tool is attached to the robot). The assumption here is that the tool-free robot is calibrated.
I'm looking for solution which doesn't use camera and expensive sensors.
EDIT: The robot is 6dof. The accuracy I'm looking at is approximately 0.1mm. The programming will be C language (How is this info related to the calibration method?).
Could someone guide in this aspect?