公开(公告)号：US20230356407A1

公开(公告)日：2023-11-09

申请号：US18044809

申请日：2020-09-17

Applicant: ABB Schweiz AG

Inventor： Andreas Skaar ,  Stian Nese ,  Cato Andre Jensen ,  Morten Mossige

IPC: B05B12/12 ,  G05B19/4155 ,  B05B13/04 ,  B25J13/08 ,  B25J9/00 ,  B25J11/00

CPC classification number: B25J11/0075 ,  B05B12/126 ,  B05B13/0431 ,  B05B13/0452 ,  B25J9/0093 ,  B25J13/088 ,  G05B19/4155 ,  G05B2219/40269 ,  G05B2219/45065

Abstract: A robot controller is adapted to execute a program an indication of a setpoint speed of a robot arm, an indication of a contemporaneous setpoint fluid flow per unit time of a spray gun supported by the robot arm, and an indication of a contemporaneous further setpoint quantity of the spray gun. The robot controller is configured to obtain an estimate of actual speed of the robot arm; determine whether the estimate deviates from the setpoint speed; and, in case of a deviation, adjust the setpoint fluid flow per unit time in accordance with a first compensation function. In an embodiment, the robot controller is further configured to concurrently adjust, in case of a deviation, the further setpoint quantity in accordance with a second compensation function, which is different from the first compensation function.