Method For Controlling A Robot Tool Center Point

A system for painting a workpiece with an automated painting system comprising an industrial robot or manipulator arm arranged with a wrist section and carrying a paint applicator arranged on said wrist section of said manipulator arm, said paint applicator arranged to coat a surface on said workpiece, where paint is applied to a substantially circular or elliptical area on said surface, and the center of said area being defined as a Tool Center Point, and where said wrist section is arranged capable of orienting said paint applicator and in which method said paint applicator is moved by said manipulator arm so that the Tool Center Point moves along a planned path so coating a part of said surface, and comprising means for controlling said robot or manipulator arm to operate according to a planned path, characterised by said system further comprising means for calculating said planned path Comprising one or more turns such that a path taken by a fixed point on the robot wrist above said surface during a turn in said planned path deviates in at least one of x-direction and y-direction from the planned path, and the path taken by a fixed point on the robot wrist is shorter than a path taken by the Tool Center Point along said surface.