Dear All,
I a have the same problem with our kuka iiwa,
The external interaction torque that is shown in the "joint torques" section in teach pendant is not zero even after calibration with the provide program. the order of external interaction on joints is max=1 N.m.
this for sure affects on the measurement of force on the end-effector. Unfortunately it is configuration dependent and the idea of subtraction from initial error sound ineffective.
is there any way to calibrate that?
Regards