It was a style of painting (I think you call it a fresco, but unfortunately I can't recall right now) that involved laying down fresh plaster, and then painting on the surface while it was still wet. whatever part of the ceiling was being painted had to be made in the 24-36 hour time span that the plaster stayed wet. It was often unpleasant grueling work. and yeah, he did do most of it on his back on scaffolding.
I'm not sure how much of the work he planned out, but Michelangelo was an extremely talented man who's always had a very good eye for mathematics, which I'm sure helped immensely with proportions.
I believe he worked on this for 5 years.