@article{oai:kanazawa-u.repo.nii.ac.jp:00007521,
 author = {浅川, 直紀 and Asakawa, Naoki and Toda, Kenji and Takeuchi, Yoshimi},
 journal = {Proceeding of the 1998 IEEE Intenational Conference on Robotics & Automation Leuven, Belgium May 1998},
 month = {May},
 note = {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., 金沢大学工学部},
 pages = {2452--2457},
 title = {Automation of chamfering by an industrial robot; for the case of machined hole on a cylindrical workpiece},
 year = {1998}
}