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摘要

Method for controlling a robotic system S, having first and second parts S1, S1 of the robotic system, each being deformable and connected fixedly to one and the same plane of reference P. The first part S1 has a spray head T for spraying a coating material along a spray axis Tx, the second part having means for gripping a component Pi provided with an annular surface Surf. The first and second parts S1, S1 each have at least first and second pivot connections (A1, A2, A1, A2 figures 3&4) for orienting the axis Tx and the component with respect to the plane of reference P. A control unit Uc generates a deformation command for deforming the first and second parts S1, S1 such: - that the spray axis Tx of the nozzle and the component Pi are moved and oriented with respect to one another in order to spray the material over the entire surface Surf; and - that at any current point of intersection (Pn1, Pn2 figure 5), the axis Tx has an incidence with respect to a current orthogonal axis (N1, N2 figure 5) that is less than 20° and preferably less than 5°.