Effective communication and information projection are essential for human-robot teaming. The projection of images on non-planar surfaces using a conventional projector is challenging due to the inherent problem of distortion. The projection distortion occurs due to the variations in depth across the surface of the teaming workspace. As a result, the projected image, information, or symbols lose their original shape and create confusion during human-robot teaming. In this paper, we presented an innovative approach to perform distortion-free projections in the teaming workspace. A pre-warped image is constructed based on the surface geometry that the projector displays and accurately replicates the original projection image. Beyond the technical achievement, this research highlights the social acceptance of improved spatial augmented reality in human-robot teams. It fosters better teamwork, trust, and efficiency by enabling more intuitive and reliable interactions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.