Cold spraying has proved as an attractive and rapidly developing solid-state material deposition process that allows for fast formation of high quality, large 3D volume objects. Low risks of undesirable heat effects lead to increased interest in cold spraying based rapid additive manufacturing. However, by continuous powder spraying and high-pressure gas operation, cold spray additive manufacturing in terms of shape building is sensitive to operating parameters and imposes high requirements on the control of process conditions and locally needed kinematics. Every step of the manufacturing process therefore needs to be meticulously conceived and planned, especially the toolpath planning and implementation. This is not only essential to meet basic performance requirements, but also needed for the desired geometric accuracy. To address these needs, this study presents a new implementation method for cold spray additive manufacturing to improve manufacturing accuracy and flexibility. The workflow and principles of the proposed method are explained and strategies are presented for building up various component types, including rotational geometries as well as freestanding parts. The developed algorithms for 3D applications can be well integrated into the cold spray additive manufacturing process for toolpath planning and path parameter determination. Reliable and accurate robot programs were developed to make the process easy to repeat and to follow. Toolpath planning and robot programming are supported and performed by applying virtual cells to simulate the automation process for the real scenario. Path parameter adjustment and kinematic optimization can then be conducted according to the feedback from the simulation result. Applied benchmarking tests prove acceptable shape accuracy and demonstrate that the current method can enhance the capabilities of cold spray additive manufacturing for near-net shape construction. This implies that careful planning and manufacturing strategies should enable overcoming the challenges associated with cold spray additive manufacturing.