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;
• a robot configured to move at least one of the application nozzle and the substrate to provide primary relative movement between the application nozzle and the substrate such that the application nozzle traverses a predefined global bead path across and spaced apart from the substrate;
• an actuator mechanically coupled to the application nozzle and configured to move the application nozzle to provide secondary relative movement between the application nozzle and the substrate;
• a sensor 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 speeds of the application nozzle relative to the substrate;
• and
• a controller in communication with the actuator and configured to receive 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 to provide the secondary relative movement 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 provide the secondary relative movement based on the response time and the one or more speeds.

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

• an application nozzle;
• a robot configured to move the substrate to provide primary relative movement between the application nozzle and the substrate such that the application nozzle traverses a predefined global bead path across and spaced apart from the substrate;
• an actuator mechanically coupled to the application nozzle and configured to move the application nozzle to provide secondary relative movement between the application nozzle and the substrate;
• a sensor 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 speeds of the application nozzle relative to the substrate;
• and
• a controller in communication with the actuator and configured to receive 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 to provide the secondary relative movement 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 provide the secondary relative movement based on the response time and the one or more speeds.