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The study deals with the automatic spray-painting by a 6-DOF industrial robot equipped with an air spray gun. Since the robot control commands generation for the spraypainting is manually pe~ormed by skilled workers using a teaching-playback function of a robot controller, the time, experience and patience are required. The study aims at making robot control commands without any special knowledge on spray-painting, in the case of bumpers of a car as an example of sculptured surjaces. 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 is found to effective in painting bumpers of a car with an un~orm paint thickness.

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The study deals with the generation of collision-free control data of a polishing robot with 6 degrees offreedom for workpiece with complicated curved surface. The collision between polishing tool and workpiece is the important problem to be solved in terms of carrying out polishing process automatically. To obtain the collision-free polishing path, the possibility of a collision is checked and a collision-jree tool axis vector is determined on the basis of the solid model of workpiece and the tool shape representative points. The generated collision-free polishing path is converted into the actual robot control data, taking account of the robot structure. The system is found to be effective from the polishing experiments of workpiece with overhanging curved surface.