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Kuka iiwa moving a tool with constant force

  • I am relatively new to Java programming and I have been working with the kuka iiwa.


    1.I would like to drive a tool through a material with a constant force being applied at the tip of the tool.
    2. monitoring the speed during this operation and once the force becomes insufficient to maintain the minimum speed terminate the loop


    this is for durability tests and evaluating the longevity of the tool. I would really appreciate any example code from people doing similar thins or any suggestions. Thank you for your time and help


    linear and vertical motions

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