Beating $15k is certainly possible. If it's hard in your area, there's probably work that can be done remotely paying 10x. The catch is that you'd have to build up the reputation and the network of satisfied clients needed.
I know a few very experienced engineers doing work in robotics. There's a fairly high variance in salary. Of those, the one I'm fairly certain clears >$200k does so largely through things like consulting and appearing as an expert in patent disputes. His day job is maybe half that.
You can make lots of money and do what you love, but sometimes the thing that pays the bills and the thing you enjoy aren't the same. You'll get better results if you work out an optimal solution for yourself, versus being wholly dependent on an employer to give you a single monolithic package - but it will also take much more effort, and likely many failures.
Lots of the ones doing work in industry are in areas like calibration and maintenance, vs. design and research. Part of the issue here is working out the specifics of what "decent paying" and "in robotics" mean to you.