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I am integrating a spot weld application with a UR10e at the moment. The weld head is mounted on the robot, and weld nozzle (mounted on a spring) needs to be pushed down about 10 mm for the weld to be successful. However, when the robot is rectracting from the surface, it makes an unwanted horizontal movement which causes a scratch to the copper plate underneath.

Here is a video of the movement: Dropbox - 20210608_105945.mp4 - Simplify your life

My guess is that the force needed to push down the nozzle is too large and the torque it causes makes the robot become slightly offset when it makes the rectrating move. Is there a way to fix this unwanted movement or is the force too much for the the robot to stay accurate?