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In this paper, an interpolation method with spline curves is proposed to smooth cutter location source data called CLS data. 3rd-order and 5th-order spline curves are easily implemented for interpolation. Then, a post processor is designed for an industrial robot FANUC R2000iC to produce FANUC robotic program called LS format. The post processor works as a straightforward and cooperative interface between CAD/CAM systems and the industrial robot, so that a desirable teaching-less operation environment is realized. The validity and usefulness of the proposed methods are evaluated through a simulation on FANUC RoboGuide and an actual machining experiment with the robot. The FANUC RoboGuide is a robotic simulation environment that can execute both the robot’s motion and application, largely reducing the setup time and risk in using an actual robot.

CLS Data Interpolation with Spline Curves and Its Post Processing for Generating a Robot Language