Right now I am looking for a way to set the stiffness for the joints. Robot is way too compliant in hand guidance mode
I'm not sure how easy it would be to change the stiffness of joints in handguiding, as there isn't a standard method for that. However, you may want to try changing the axis limits using the setAxisLimitsMax|Min() commands to restrict the robot's motion (read section 15.11.1 in the manual for more information). Also, make sure the flange's load data is properly accounted for. Any small deviations from calibration could lead to unexpected results for a hand guiding motion.
