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  "abstract": "A method of creating a modified design on a surface, the method including providing a tool, and an industrial robot configured to perform relative movements; providing a digital model of the surface, the digital model including a candidate profile of the surface; providing a candidate path for the relative movements based on the candidate profile; providing a candidate design to be created on the surface based on the candidate path; determining an actual profile of the surface; providing a modified path for the relative movements based on the actual profile; modifying the candidate design to provide the modified design to be created on the surface based on a deviation between the candidate path and the modified path; and controlling the industrial robot and the tool to create the modified design on the surface using the modified path for the relative movements.",
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    "FINNESTAD YNGVE",
    "SKAAR ANDREAS",
    "TRYDAL JAKOB"
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  "title": "Method of Creating Modified Design on Surface, Control System and Robot System",
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