公开(公告)号：WO2023284967A1

公开(公告)日：2023-01-19

申请号：PCT/EP2021/069760

申请日：2021-07-15

Applicant: ABB SCHWEIZ AG

Inventor： SKAAR, Andreas ,  FINNESTAD, Yngve ,  SUNDVOLL, Elias

IPC: B41J2/21 ,  B41J3/407 ,  B05B13/04

Abstract: A method of printing an image onto a surface using a printhead carried by a robot arm, comprising: obtaining an image which exceeds the predetermined print width (w) of the printhead; splitting the image into at least two image strips, each contained within a reduced print width (w0) which is less than the predetermined print width, and generating associated printhead paths; detecting a deviation from the printhead paths when the robot arm is fed with a first control signal in a dry run; modifying the image strips to compensate the detected deviation by applying a local lateral shift; and printing the modified image strips onto the surface while the robot arm is fed with a control signal that is equivalent to the first control signal.