I would like to use the force / torque sensor of a UR10e to scan the position of a workpiece with the help of my tool. The workpiece is fixed and cannot move. I would like to implement this with the stop condition on tool contact. I've already tested this and it works, but not really good. The problem is, my tool isn't really rigid and it bends easily. It consists of thin-walled copper pipe. Now it sometimes happens that the robot does not recognize the workpiece, simply moves on and bends the tool beyond the elastic range.
What options do I have to make the control of the robot more sensitive here?