Painting system

A painting system comprising:

• a painting robot for painting a painting area of a vehicle, wherein the painting robot comprises:
• a painting head unit provided with a painting head comprising a plurality of nozzles for ejecting paint droplets;
• a robot arm which has the painting head unit mounted on a tip end thereof and causes the painting head unit to move to a desired position;
• and
• a control unit comprising a head control unit for controlling operation of the painting head, and a robot arm control unit for controlling operation of the robot arm,
• the robot arm control unit performs control to cause the robot arm to implement the following:
• head movement control for moving an attitude of the painting head unit from an ejection position at which the droplets are ejected, so that air bubbles present inside the painting head are caused to move by a difference in specific gravity between the droplets and the air bubbles;
• and
• attitude restoring control for restoring the attitude of the painting head unit to the ejection position, after the head movement control, and,
• immediately after the attitude restoring control or during and immediately after the attitude restoring control, the head control unit causes droplet ejection control to be implemented, in order to cause the droplets to be ejected from the nozzles of the painting head.