Abstract: A method for generating a path (P) of a tool attached to a robot arm is disclosed. The robot arm is placed in a workspace that can comprise obstacles. The robot arm is connected to a compute box that is configured to control the motion of the robot arm. The path (P) has a starting point (A) and an end point (B). The path (P) is composed of a plurality of sub-motions (d1, d2, d3, . . . , dN?2, dN?1, dN). The method comprises the step of creating the path (P) as a single consecutive motion, wherein the i-th sub-motion (di) is determined by an optimization process carried out on the basis of predefined characteristics of a) the previous sub motion (di?1); b) the workspace and its obstacles if any; c) the tool and d) the robot arm.

Abstract: A method for automatically attaching a surface treatment medium to a head of a surface treatment tool mounted on an articulated arm of a robot is disclosed. The method comprises placing the head on a surface and applying a predefined force to press the head towards the surface when no surface treatment medium is attached to the head, measuring the distance between the head and the surface using one or more positioning sensors of the robot arm or the surface treatment tool, attaching a surface treatment medium to the head, placing the head on the surface when the surface treatment medium is attached to the head, and measuring the distance between the head and the surface using one or more positioning sensors of the robot arm or the surface treatment tool when the surface treatment medium is attached to the head.