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Without going into nauseating detail, slaves by definition have no freedom, and no freedom of choice. From Johnston's The Private life of the Romans
- Legal Status of Slaves. The power of the master over the slave, dominica potestΔs (Β§ 26), was absolute. The master could assign to the slave laborious and degrading tasks, punish him even unto death at his sole discretion, sell him, and kill him (or turn him out in the street to die) when age or illness had made him incapable of labor. Slaves were mere chattels in the eyes of the law, like oxen or horses.
The book The Historical Encyclopedia of World Slavery, Volume 1; Volume 7 By Junius P. Rodriguez mentions specifically Athens, Rome, of course, the Visigoths, and the Hebrews as cultures which had laws concerning sexual behavior with slaves or concubines. A Wikipedia page also covers both modern and Historical sexual slavery and includes info on Asian and Arab slavery. Another wiki page discusses the Bible and its references to slavery and rules concerning selling daughters as concubines.
So yes, slaves have been used sexually throughout the history of slavery.