公开(公告)号：WO2022058015A1

公开(公告)日：2022-03-24

申请号：PCT/EP2020/076002

申请日：2020-09-17

Applicant: ABB SCHWEIZ AG

Inventor： SKAAR, Andreas ,  NESE, Stian ,  JENSEN, Cato Andre ,  MOSSIGE, Morten

IPC: B25J9/16 ,  B05B12/12 ,  G05B19/408 ,  B25J9/00 ,  B05B12/08

Abstract: A robot controller (112, 114, 631, 632) is adapted to execute a program (610) comprising an indication of a setpoint speed of a robot arm (120), an indication of a contemporaneous setpoint fluid flow per unit time of a spray gun (122) 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.