Abstract
The study deals with the development of a system to perform path planning using CAD data for an industrial robot. For the 6-DOF robot, generation of control commands considering a operational pattern; starting point, end point and tool direction during operation, is important. The operational pattern is usually decided by an experienced operator. Although the best operational patterns can be decided by precise simulation, it wastes much time. The operational patterns were determined on the basis of "the least change in attitude strategy" considering with "the tool configuration", which expresses the relationship between the attitude of tool and that of robot arm. In the article, chamfering paths on a edge with a closed curve for a non-rotational cutting tool were treated as an example. From the results of the simulation and actual experiment with a robot, the system is found effective to perform automatic path planning in real-time.
