Torque, Robuster, Collision

Bug fixes

Controller

• Increased allowed torque of the base joint when Tool or Elbow is close to the base singularity

• Similar to older software versions, risks of clamping or collisions with the robot still should be avoided in the cylinder extending vertically from the base of the robot.
• More robust against disturbances. Less risk of false protective stops when performing base rotation movements at high speeds
• With a force limit set to the minimum value: unchanged behavior
• Increasing the force limit will gradually increase the allowed torque of the base, and thereby robustness against disturbances
• Robot is able to push with higher forces in force control in some situations (still within safety force limits)​