A controller for a paint robot

A method of controlling a robot arm and a spray gun supported by the robot arm, the method comprising:

• obtaining a program having an indication of a setpoint speed of the robot arm and an indication of a contemporaneous further setpoint fluid flow per unit time of the spray gun and an indication of a contemporaneous further setpoint quantity of the spray gun;
• obtaining an estimate of actual speed of the robot arm;
• determining whether the estimate deviates from the setpoint speed;
• and
• adjusting, in case of a deviation, the setpoint fluid flow per unit time in accordance with a first compensation function.

A computer program comprising instructions to cause a robot controller to perform the steps of:

• obtaining a program having an indication of a setpoint speed of the robot arm and an indication of a contemporaneous further setpoint fluid flow per unit time of the spray gun and an indication of a contemporaneous further setpoint quantity of the spray gun;
• obtaining an estimate of actual speed of the robot arm;
• determining whether the estimate deviates from the setpoint speed:
• and
• adjusting, in case of a deviation, the setpoint fluid flow per unit time in accordance with a first compensation function.

A data carrier having stored thereon a computer program comprising instructions to perform the steps of controlling a robot arm and a spray gun supported by the robot arm, the instructions including:

• obtaining a program having an indication of a setpoint speed of the robot arm and an indication of a contemporaneous further setpoint fluid flow per unit time of the spray gun and an indication of a contemporaneous further setpoint quantity of the spray gun:
• obtaining an estimate of actual speed of the robot arm;
• determining whether the estimate deviates from the setpoint speed;
• and
• adjusting, in case of a deviation, the setpoint fluid flow per unit time in accordance with a first compensation function.