Bouncing of Robot During Path Recording
/ Most recent by MarcAntoine_Lacasse
We received another interesting question from @NicoHanstein who is experimenting with the path recording for deburring with their spindles.
When we programmed with path we realized in certain positions that the robot was moving back and forth (was almost jumping) when we pressed our spindle against the work piece. When we changed the joints of the robot and exerted the same pressure again this behavior was better and almost gone.
At the moment, as you can see in the video, the spindle is not mounted in alignment with the TCP of the UR.
The spindle is mounted in 90° to the Z Axis. Is this causing this specific problem? Is there a best way (axis) to install the spindle to the force sensor?
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