Method and apparatus for adaptive control and real-time edge tracking of adhesive and sealer dispensing

A system for applying material to a substrate, the system comprising:

• an application nozzle attached to a distal end of a robotic arm, wherein the robotic arm is configured to traverse a predefined path such that the application nozzle traverses a predefined global bead path across and spaced apart from the substrate;
• a sensor coupled to the distal end of the robotic arm and an actuator mechanically coupled to and configured to move the application nozzle, wherein the sensor is configured to sense a first location on the substrate that is spaced apart from a second location on the substrate by a distance, the second location being a location at which the application nozzle is configured to deposit the material, the distance being based on a response time of the sensor and one or more nozzle speeds of the application nozzle;
• and
• a controller in communication with the actuator and configured to receive image data from the sensor and detect a feature of the substrate based on the data received from the sensor, and direct the actuator to move the application nozzle independent of the distal end of the robotic arm such that a bead of the material flowing out of the application nozzle is applied to the substrate along a feature-relative bead path, and wherein the controller is configured to control a movement of the application nozzle based on the response time and the one or more nozzle speeds.

A system for applying material to a substrate, the system comprising:

• an application nozzle attached to a distal end of a robotic arm, wherein the robotic arm is configured to traverse a predefined path such that the application nozzle traverses a predefined global bead path across and spaced apart from the substrate;
• a sensor coupled to the distal end of the robotic arm upstream from the application nozzle and an actuator mechanically coupled to and configured to move the application nozzle, wherein the sensor is configured to sense a first location on the substrate that is spaced apart from a second location on the substrate by a distance, the second location being a location at which the application nozzle is configured to deposit the material, the distance being based on a response time of the sensor and one or more nozzle speeds of the application nozzle;
• and
• a controller in communication with the actuator and configured to receive image data from the sensor and detect a feature of the substrate based on the data received from the sensor, and direct the actuator to move the application nozzle with a time delay after the feature of the substrate is detected and independent of the distal end of the robotic arm such that a bead of the material flowing out of the application nozzle is applied to the substrate along a feature-relative bead path, and wherein the controller is configured to control the actuator to move of the application nozzle based on the response time and the one or more nozzle speeds.