Given that your post is inside the ABB forum, you could do it by:
a) using painting robots which typically can be programmed by moving the robot arm while robot's software is storing the path automatically.
b) using "normal" anthropomorphic robots which must have installed a force sensor (ABB names it Force Control) which consists on a multi-directional load cell placed at the end of the 6th axis and which is connected directly to the robot controller.
Hope this helps...
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