<p>A method for controlling a painting system comprising an industrial robot or manipulator arm arranged with a wrist section and carrying a paint applicator arranged on the robot wrist. Paint is applied by the applicator to a substantially circular or elliptical area on said surface, and the centre of the area is defined as a Tool Centre Point. The wrist section is arranged capable of moving and orienting the paint applicator. In the improved method the paint applicator is moved by said manipulator arm so that the Tool Centre Point moves along a planned path so coating a part of said surface. The planned path may comprise one or more bends. The path taken by the robot wrist may be controlled to follow a different path from the path taken by the TCP. A system and a computer program for carrying out the method are also described.</p>
