EDIT: I’ve learn that during the replacement of the wrist this check was done and the ABB provided servise couldn’t solve my problem that way. However, as I said, it helped with the smoothness (there wasn’t any difference of resistance when moving it by pushing) but it didn’t affect the bug which was similar before and after.
Thank you I will check that as soon as I’ll be able to but in time before it, I’d like to add that when auxiliary point are added before and after the corner the problem is basically resolved but it isn’t the solution that would be suitable for a normal use. Does it change anything?
Additionaly, when moving on a z-axis down, stopping and then up, the robot also makes this shift on the way up (it’s the most noticable)
And yes I meant that the entire wrist was replaced but I meant that it was because of 5th axis.
Sorry, here’s the image:
(the upper right corner is expected (the starting point) and the lower left corner is also quite pretty but the upper left and lower right are problematic)
