Abstract: Automatically performing an operation on an object-with a tool-carried by a polyarticulated system-that can be moved in a working environment, the object-and the working environment being open-ended or insufficiently defined to carry out the operation. A method comprises: capturing a scatter plot image of the object-and the working environment-with a 3D sensor, merging this image with the CAD model of the system and the environment into a working image, and defining anti-collision parameters;— defining a path of the tool-on the portion of the working image representing the object and executing a simulation of the corresponding movement of the system-and the tool in the working image so as to ensure that the operation is feasible;— and if the operation is feasible executing the actual movement of the system carrying the tool-according to the path defined for performing the operation on the object.