Abstract: A method for controlling a painting system including an industrial robot or manipulator arm arranged with a wrist section and carrying a paint applicator arranged on the robot wrist is described. Paint is applied by the applicator to a substantially circular or elliptical area on the surface, the center of the area being defined as a Tool Center Point. The wrist section is arranged capable of moving and orienting the paint applicator. In the method, the paint applicator is moved by the manipulator arm so that the Tool Center Point moves along a planned path so coating a part of the surface. The planned path may include 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 Tool Center Point. A system and a computer program for carrying out the method are also described.