A robotic paint spraying system includes a paint applicator including a spray tip having at least one tip orifice, a propulsion system comprising one or more actuators configured to move the paint applicator relative to a surface, and a control system. The control system is configured to obtain one or more spraying parameters representing a target paint spraying operation, generate a first actuator control signal that controls the propulsion system to move the spray tip at a speed relative to the surface, control the robotic paint spraying system to spray paint from the spray tip at a target pressure, obtain an indication of tip wear of the spray tip, generate a movement parameter based on the indication of tip wear, and generate a second actuator control signal that controls the propulsion system to move the spray tip based on the movement parameter.