As the CP movement of the robot was simulated,the 3D model of workpiece was first established to extract the edge information. The robot can realize space continuous path movement along the workpiece contour simulating the deburring and finishing process.

• 当进行连续轨迹运动仿真时；建立工件的三维模型；提取工件棱边信息；机器人可以实现沿着工件轮廓的三维运动；模拟去除工件毛刺、进行光整加工的过程.