A system includes a robot, a measuring device, and a processor. The robot is configured to dispense, based on at least one process parameter, a liquid adhesive bead onto a substrate. The measuring device is configured to measure at least one characteristic of the bead shape. The processor is configured to determine, based on a reference bead shape and at least one reference process parameter, response surface profile of the liquid adhesive. The processor is configured to compare the measured bead shape to a reference bead shape and, responsive to determining the measured bead shape is different than the reference bead shape, determine, based on the response surface profile, at least one updated process parameter. The updated process parameter is configured to cause the robot to dispense a second bead having the reference bead shape.

A first robot and at least one further second robot are provided to run through a plurality of positioning ranges during operation. A dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range can be adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value of the second robot in at least one second positioning range.

A method and apparatus for laying composite tape. The method may comprise driving a plurality of robots, each having a respective movement system across a movement surface, in which the movement surface faces a workpiece, and laying composite tape from the plurality of robots in a coordinated manner on the workpiece.