抄録
The study deals with the development of a software to perform path planning on the basis of CAD data for chamfering by an industrial robot. For a 6-DOF robot, it is important to generate control commands considering with cutting patterns, i. e. start point, end point and tool direction. Although they are usually decided by an experienced operator, in the article, they are decided automatically by employing a reference vector calculated on the basis of CAD data and by considering tool configuration. From the experimental result of the simulation and actual operation by the robot, the software is found to be effective to perform automatic path planning in real time.
