Programming robots is easier when you have an interactive interface like CAD-2-PATH around. This robot programming tool allows you to control your robot by simply drawing a 3D model. As the developers explain:
With CAD-2-PATH it is quick and easy to program surface-true paths on complex object surfaces. The trajectories drawn are projected onto the surface from the CAD model and can then be executed by industrial and service robots of all kinds.
With force-torque sensors, robots will be able to dynamically adapt to the surface, so inaccuracies in your virtual 3D model won’t be a big issue.