  In this paper, a method is presented for lowering the energy consumption
and/or increasing the speed of a standard manipulator spray painting a surface.
The approach is based on the observation that a small angle between the spray
direction and the surface normal does not affect the quality of the paint job.
Recent results in set-based kinematic control are utilized to develop a
switched control system, where this angle is defined as a set-based task with a
maximum allowed limit. Four different set-based methods are implemented and
tested on a UR5 manipulator from Universal Robots. Experimental results verify
the correctness of the method, and demonstrate that the set-based approaches
can substantially lower the paint time and energy consumption compared to the
current standard solution.
