One of the industry’s most common applications of lasers is engraving, which is generally performed on flat surfaces. However, there are many situations where the object to be engraved has an unevenly curved geometry. In those cases, the light power density will be different along the surface for a fixed head, leading to a poor engraving result. This work deals with this problem by designing a robotic application capable of detecting variations on the object surface and automatically creating a trajectory to engrave on it correctly. This was made possible through a robotic manipulator, a time-of-flight distance sensor, and a data processing algorithm over the measured data. Obtained results were acquired using a custom-made test rig and validated by delivering consistent engraving results on irregular surface shapes.