1. A method of controlling a robot system, the method comprising the steps of: a. providing a tool supported by a moveable mechanism of the robot system; b. providing a workpiece supported by a holder; c. generating an image of the workpiece; d. extracting a data from the image, the data relating to a feature of the workpiece; e. generating a continuous three-dimensional path along the workpiece using data extracted from the image; and f. moving the tool along the path.