Patent ID: 6360143
Filing Date: 2002-03-19
Classification: B05C,B25J,G05B

Abstract:
A method of controlling a dispensing system having a robot for application of a material to a workpiece wherein the dispensing system prevents any gaps or overlaps in the material on the workpiece, said method comprising the steps of:moving the robot along a motion segment at an operational speed between a first position and a second position; applying a first portion of the material to the workpiece as the robot moves along the motion segment; discontinuing the application of the first portion of the material in response to an error that occurs during the application of the first portion; establishing a re-application position for the material along the motion segment in response to the error that occurs during the application of the first portion, wherein the re-application position indicates where the robot begins applying a second portion of the material; determining a backup distance indicating where the robot is relocated relative to the re-application position; relocating the robot to a backup position based on the determined backup distance; said method characterized by automatically determining the backup distance based on the operational speed of the robot to ensure that the robot reaches the operational speed at least by a time that the robot reaches the re-application position to prevent any gaps or overlaps in the material on the workpiece.