I'm trying to get the position of my tool once the robot hits the edge of a hole so I"m using the shear force condition as bellow:
ForceCondition shearForce = ForceCondition.createShearForceCondition(tool.getDefaultMotionFrame(), holeCC, CoordinateAxis.Z, 5);
But in certain positions the robot stops before reaching the edge and the condition turns to true as if it detected a force but in reality it didn't. According to kuka help the quality of the measurement depends on the current robot pose, and declines near singularities. But in my case the robot is far from being in a singularity and if the movement applied has no force condition it would fulfill the motion.
Is there a way to get a correct measurement or to receive an indication that the motion wasn't done and that the robot stopped so I could change my path to something measurable.
Thanks for your help!