A robot system for non-destructive testing, NDT, of a test object , the robot system comprising: - an end effector with an NDT transducer configured to perform an NDT on a surface of the test object; - a memory configured to store a predefined trajectory of said NDT transducer along the surface of the test object; - a controller comprising: - an NDT module configured to process measurements of said NDT transducer to generate an NDT feedback signal ; and - a signal generation module configured to generate an actuation signal based on said predefined trajectory and said NDT feedback signal; and - a controlled multi degree of freedom positioning device configured to, based on said actuation signal, control the position and/or orientation of the NDT transducer relative to the test object, characterized in that the NDT transducer is configured to make contact with the surface of the test object, in that the robot system further comprises a force-sensing device configured to provide measurements of contact forces and/or contact moments between the surface of the test object and the NDT transducer, in that the controller further comprises a force-sensing module configured to process measurements of said force-sensing device to generate a force feedback signal, in that the signal generation module is configured to generate the actuation signal based on said predefined trajectory, said NDT feedback signal and said force feedback signal, and in that the controlled multi degree of freedom positioning device is configured to control the position and/or orientation of the NDT transducer relative to the test object together with contact forces and/or contact moments between the test object and the NDT transducer. - an end effector with an NDT transducer configured to perform an NDT on a surface of the test object; - a memory configured to store a predefined trajectory of said NDT transducer along the surface of the test object; - a controller comprising: - an NDT module configured to process measurements of said NDT transducer to generate an NDT feedback signal ; and - a signal generation module configured to generate an actuation signal based on said predefined trajectory and said NDT feedback signal; and - an NDT module configured to process measurements of said NDT transducer to generate an NDT feedback signal ; and - a signal generation module configured to generate an actuation signal based on said predefined trajectory and said NDT feedback signal; and - a controlled multi degree of freedom positioning device configured to, based on said actuation signal, control the position and/or orientation of the NDT transducer relative to the test object, in that the robot system further comprises a force-sensing device configured to provide measurements of contact forces and/or contact moments between the surface of the test object and the NDT transducer, in that the controller further comprises a force-sensing module configured to process measurements of said force-sensing device to generate a force feedback signal, in that the signal generation module is configured to generate the actuation signal based on said predefined trajectory, said NDT feedback signal and said force feedback signal, and in that the controlled multi degree of freedom positioning device is configured to control the position and/or orientation of the NDT transducer relative to the test object together with contact forces and/or contact moments between the test object and the NDT transducer. <EOS>