I am working with a UR20 and an ACF-K end effector for sanding. I want to use the force control of the tool alone not combined with the force control of the robot to sand a curved surface. Is there a way to adapt to the surface curvatures without using predifined waypoints and the force control of the robot.
The tools urcap allows me to use a force perpendicular to the surface but not torques.
Thank you