In order to obtain competitiveness in the field of industrial manufacture, a reduction in the development period for the small batch manufacture of products is required. In order to meet these requirements, an incremental sheet metal forming process has been developed. In this process, a small local region of a sheet blank deforms incrementally by moving a hemispherical head tool over an arbitrary surface. In this work, an incremental sheet metal forming process controlled three dimensionally by a computer has been accomplished. It has been shown by the experiments that a sheet blank is mainly subject to shear-dominant deformation. Therefore, the final thickness strain can be predicted. The uniformity of thickness throughout the deformed region is one of the key factors to improve the formability in the sheet metal forming processes. Using the predicted thickness strain distribution, the intermediate geometry is decided in the manner that a shear deformation is restrained in the highly shear-deformed region and vice versa. This double-pass forming method is found to be very effective so that the thickness strain distribution of a final shape can be made more uniform.