Scanning a workpiece with the UR10e

Hi,

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?

Hi,

thank you for your replay.

I have already tested very low speeds up to 1 mm/s with accelerations about 10 mm/s^2. I will test it with greater accelerations.

The tool is U-shaped and should be positioned centrally around a pipe. Apart from the manufacturing tolerances, the robot already knows where the pipe is. Due to the manufacturing tolerances, the tool is then not exactly centered around the pipe. I want to use the stop condition on tool contact to position the tool more precisely. The pipe diameter is 16 mm and the inner tool diameter is 18,5 mm. So i can only probing a lot of air in one direction. The air in the other direction is only between about 0.5 and 1.5 mm.