The study deals with the automatic chamfering for the case of a machined hole on a cylinder on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees of freedom in order to give an arbitrary position and attitude to the tool. The robot control command converted from the chamfering path is transmitted directly to the robot. From the experimental results, the system is found effective to remove a burr along the edge of a hole on a cylindrical metallic workpiece.

The study deals with the automatic spray-painting by a 6-DOF industrial robot equipped with an air spray gun. Since the conventional robot control command generation for the spray-painting is manually performed by skilled workers using a teaching-playback function of a robot controller, it is a time consuming and experience required process. The study aims at generating the robot control commands without any special knowledge on spray-painting, in the case of bumpers of a car as an example of sculptured surfaces. The system can automatically generate a spraying path for the air spray gun on the basis of CAD date of the workpiece, and change the spraying path into robot control commands. From experimental results, the system was found to be effective in painting bumpers of a car with uniform paint thickness.

The paper deals with the generation of 6-axis control collision-free polishing command data for an industrial robot with 6 degrees of freedom. Workpieces with, for example, a side wall or an overhanging sculptured surface, are difficult to polish using straight-type rotational tools since the collision between the polishing tool and the workpiece cannot be avoided. Thus, an L-shaped rotational tool consisting of a tool axis and an arm axis has been devised, where the angle of the tool axis to the arm axis can be set arbitrarily. In generating the polishing path for the L-shaped rotational tool, the 6-axis control collision avoidance method is introduced, based on our CAD/CAM system. The collision-free polishing path generated is converted into robot control command data for actual polishing work. It is experimentally shown that the system is valid for polishing workpieces with complicated shape.