Reducing stiffness of joints in Free-drive

Uthira

Hey, I am trying to hand guide the UR5 robot in free-drive to follow a path. While doing so, I realized there was some rigidity in the movement of joints in free-drive, i.e. it was not as free as moving our own hand while writing or as when the robot while following a path planned through way points in teach-pendant.

I tried changing some factors like momentum, joint speed in safety limits in teach pendant, which reduced the stiffness to some extent.

Can someone give some insight into how I can go about doing this?

bcastets

Did you try the active drive function of our force copilote force control software ?

https://elearning.robotiq.com/course/view.php?id=7&section=3

The function use force sensor data to easy move the robot.

Uthira

Hey, I am not using Force copilot. Is there any way to reduce stiffness of joint movements (stiffness of brake) in free-drive mode for UR5 robot without Force copilot and FT 300 sensor.