Patent ID: 9354626
Filing Date: 2016-05-31
CPC Classification: B25J,G05B

Claim Text:
1. A method for restarting a robot having an atomizer apparatus for coating, using predetermined nominal atomizer parameters, of a workpiece moveable by a feed device after an interruption of a nominal movement of the atomizer apparatus at a nominal velocity along a nominal movement path relative to the workpiece, the method comprising: storing an interruption point of the atomizer apparatus; moving the atomizer apparatus to a restarting point located on the nominal movement path before the interruption point; accelerating the atomizer apparatus along the nominal movement path using a predetermined velocity function between the restarting point and a transfer point located on the nominal movement path after the interruption point; switching the atomizer apparatus on again between the restarting point and the transfer point; adjusting the nominal atomizer parameters at least once between the restarting point and the transfer point using a respective current velocity of the atomizer apparatus, the respective current velocity being different from the nominal velocity; and moving the atomizer apparatus at the nominal velocity after the transfer point using the nominal atomizer parameters which existed prior to the adjusting step.