Typically voice work is done at the animatic stage. Basically, the storyboard is crudely animated to give the production a sense of timing and what everything will look like.
[Robot Hell Animatic](https://youtu.be/d7h6rdrCP-I)
[Robot Hell Finished](https://youtu.be/DR7rurcamNo)
As far as sticking to the script, it really depends on the director. If the actor comes up with something better, the animatic can be easily updated before major work is done, but is is about the director’s “vision.”
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