Nowadays robots are widely used in many applications such as military, medical application, factories, entertainment, automobile industries etc. However, the application of robot is still not widely implemented in construction industry. In construction industry, robots are designed to increase speed and improve the accuracy of construction field operations. The painting chemicals can cause hazards to the human painters such as eye and respiratory system problems. When construction workers and robots are properly integrated in building tasks, the whole construction process can be better managed and savings in human labour and timing are obtained as a consequence. In addition, it would offer the chance to eliminate or remove human infection, which would solve most of the problems connected with safety when many activities occur at the same time. These factors motivate the development of an automated robotic painting system.