UR 10e: Increase force applied to reach goal position


I have been testing the robot for a grinding application.

The problem that I am running into is that the robot deviates from its path during the grinding process, by multiple mm while the sum of all forces as measured by the integrated force sensor fluctuates from 20 - 50 N.

I was wondering if there is any setting that determines how much force/effort the robot applies to try and reach its goal position?

If so I think increasing it could reduce the deviation from its grinding path.

If there aren’t any options in the UR user interface, does anyone know of any options is ROS?