Abstract: A machine and control are provided for effecting motion of a function element, such as an adhesive material dispensing gun, and controlling the operation of the function element by means of a control signal proportional to the velocity of a workpoint associated with the function element. The control produces a velocity signal representing the velocity of the workpoint, calculates the value of a control signal using the velocity signal and predetermined constant defining the constant of proportionality and zero velocity output and applies the control signal to a digital-to-analogue converter to produce an output signal for controlling the function element.

Abstract: A method and apparatus are provided for cooperatively controlling motion between a tool centerpoint associated with a function element carried by a manipulator and rotation of a workpiece carried by a positioner. The tool centerpoint follows a linear path interpolated between programmed locations at a velocity resulting in a relative velocity between the tool centerpoint and the workpiece surface equal to a programmed velocity. Differences in radial distance of the tool centerpoint from the axis of rotation of the workpiece at successive programmed locations result in incremental velocity modifications along the path to maintain the relative velocity at the programmed value.