In the program control of a robot intended for painting vehicles and in order to facilitate finding the numerous coating parameters stored in a robot movement program, coordination between the process parameter change point and the relevant coating parameters is to be obtained. To this end, and to establish...http://www.google.com/patents/US5184051?utm_source=gb-gplus-sharePatent US5184051 - Method for program control for an industrial robot for automatic coating of workpieces
