AutoCAD has programming capability through its Application Programming Interface (API). Typically this is programmed in the AutoCAD LISP language, or VB, or C++.
From that, you have the capability to extract positional data from a AutoCAD. The important thing is that you must calibrate your CAD object with your robot coordinate system. The same type of thing is done all of the time for 2D laser cutting applications and is available on the market from a variety of sources.