Not OP but I've written custom force control code for a UR5e. There's a six axis...

		ladberg on Dec 17, 2019 \| parent \| context \| favorite \| on: Show HN: I'm building a robot that performs haircu... Not OP but I've written custom force control code for a UR5e. There's a six axis force sensor on the end effector for the e model which has a pretty noisy raw output. After some filtering we were able to get a pretty sensitive controller. I didn't measure it, but far less than 10N.

Sweet, thanks for sharing your experience!