First step is to figure out what is damaged/bent and fix that.
There are ways to compensate. Depending on how much damage the kinematic model and the robot don’t match closely enough. Jogging could be off and path calculations vs real path could be off.
no even for a minor hit(without any physical damage )all points were modified.It was an hectic work to reteach program for Welding(pallet welding)and Machine tending application.
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