The authors have been studying parts processing using articulated robots for traditional wooden building systems. In the case of robot parts-processing using multiplex tools, there are two problems. One is the selection of the tool suitable to each part’s shape; another is the generation of a tool path. In this paper, we describe an approach that classifies process patterns, based on the process part’s shape. This paper also demonstrates the verification test for systems developed using this approach through the parts processing of a five-storied pagoda.
