Are we using force control correctly?

Hello,

I work for a blow molding company, and we've been using force control contouring to trim the flash off our parts using knives held by the robots. They do a good enough job on most parts, but my boss wants them improved to the point that we can skip the scraping for some of them. It feels like we have to fight with the force control anytime we change anything though, and for all of the documentation I've seen, force control is used with machining and rotary tools.

For anyone reading this, we decided the force control was not appropriate. We are looking into passive compliance devices instead, but even just taking the force control off of the programs has improved the performance of the robot.