The end-effector can be a welding head, a spray gun, a machiningtool, or a gripper containing on-off jaws, depending upon the specific application of the robot.
During the sculpture surface milling machining, cutting force in ball end cutter along the tool path can be calculated according to the force model.
雕刻表面球形铣削加工中，根据刀头的受力模型，可以计算整个刀具路径上刀头的受力。
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This paper presents an algorithm of generating three kinds of tool paths and a formular of calculating tool center paths when machining parts with cylindrical end-milling cutter.