In the initial phase of this project, a single-colour printing system was developed to perform printing tests on 2D surfaces in different orientations and robot workspaces. These test prints were scanned by a microscope and treated by an image processing software, which allowed the statistical characterisation of the drop placement error and its different parameters. An active ink pressure control system was developed, implemented and tested to mitigate the pressure fluctuations caused by the dynamics that occur within the system. Using high precision distance sensors, a correlation between drop placement error and robot path accuracy was proven, confirming the effectiveness of the ink pressure control. In the second phase, a four-colour printing system was developed to test high quality graphic printing and selective coating on an automotive part. This phase involved several considerations, including path generation, correcting positioning errors, ensuring stitching quality, achieving coating uniformity and implementing UV curing on 3D surfaces. The DTS workflow developed in this project was tested and improved on various use cases including automotive parts and furniture.