During these months we implemented the varnishing algorithm using the closed loop through vision. In real-time Kinect gives information to the robot regarding the distance from the part and the system calculates the normal to the surface immediately next to the area varnished during the movement. The robot adapts the orientation of the spray gun respect to this normal. A lot of trials has been performed in our lab without the spray gun activation and finally a real test with the varnish has been done in a room next to our lab. Also a safety procedure has been implemented using vision so that the robot stops if an obstacle comes in the range of movement and it continues the task when the obstacle is removed.