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Laser cleaning technologies have been attracting attention as a solution to the environmental problems caused by pre-treatment processes, but there are very few studies on the removal of paint using laser cleaning. In this study, laser cleaning was performed on steel painted with shop primer and epoxy paint using a Q-switching fiber laser, and the characteristics of the laser cleaned surfaces was compared in relation to the pulse overlap rate, as a main parameter. Experimental results showed that the number of scans to remove the paint decreased as the pulse overlap rate increased. At pulse overlap rates of 20 % and 50 %, the oxide layer was not removed from the surface. However, when the pulse overlap rate was increased to 70%, the oxide layer was completely removed. In addition, damage of the base material was reduced when the pulse overlap rate was increased, more precise laser cleaning was possible.