System parameters adjustment for force control

gianluigi

Hello,

We have installed a 6 dof ATI force/torque sensor on our ABB IRB 1600. I am trying to adjust the parameters on RobotStudio Online so that the robot would be more compliant. When I set a reference reaction force along z-direction, the robot starts moving downwards, till it reaches the surface and obtains that reference force, however, it bounces off the surface like a ball for a few times. Two contacting materials are both aluminum by the way.

Any suggestions about how to make the system parameters setup?

Thank you.