Hello everyone,
I started working on a KR120 a few days ago and I'm trying to master the Kuka FTCtrl application. (Schunk FTsensor)
I succefully followed the documentation to create contact with sensor guiding following the Z axis. The robot applies the correct constant force on a piece of wood vertically.
The problem is when I try to apply a constant force following axis Y or X, the force goes beyond the desired value and it looks like the force controller is not even working ! and the forces and torques reach the limits (60N.m) which causes the robot to stop.
I know that the difference between the Z axis and Y axis is the existence of a measured torque due to the length of the tool (300 mm) but I don't know how to deal with that !
Is there anything I should do differently from the Z axis FTCtrl ?
Thanks for the help,
Abdel