We are programming universal robot to do powder coating inside the box. But the thing is during angle change the robot hits the surface though we gave movej inside movel with respect to the plane. And to maintain the cycle time we making Robot move little fast but they need a less cycle time and good coating. And for the human operator of powder coating feels it is too fast. Right now we are making zigzag motion. Can you please suggest how to prevent hitting and less cycle time.