Automated peening

A non-transitory computer readable medium comprising instructions which, when executed by a controller of a robotic arm having a peening tool attached thereto, cause performance of the automated peening method comprising the steps of:

• providing, adjacent a surface of a workpiece, a robotic arm having a peening tool attached thereto;
• defining a peening area of the surface of the workpiece;
• calculating a peening path for the peening tool over the peening area, the peening path substantially covering the peening area and comprising a sequence of movement patterns, wherein a geometric variable of one or more of the movement patterns is modified using an output of a random number generator;
• and
• controlling the robotic arm to move the peening tool over the surface of the workpiece to follow the peening path.

A controller for controlling a robotic arm, the controller configured to:

• define a peening area of a surface of a workpiece;
• and
• calculate a peening path over the peening area,
• wherein the peening path substantially covers the peening area and comprises a sequence of movement patterns,
• wherein a geometric variable of one or more of the movement patterns is modified using an output of a random number generator.