Stop trying to stick your richard in the disc tray
But in all seriousness, if you assume they have free will and sentience, then yes, they are bound by the same sort of rules concerning intercourse as humans are.
if you program a robot to give consent, are you manipulating it to your own will?
I refer you to Asimov's Three Laws of Robotics:
1. A robot may not injure a human being or, through inaction, allow a human being to come to harm.
2. A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Laws.
Considering that these laws disregard the sentience of the robot, it technically isn't manipulation if it's pre-programmed into the robot's firmware.