本论文介绍了生成三种刀具轨迹的算法，并且给出用立铣刀代替球铣刀加工实体零件时刀具中心轨迹的计算公式。
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.
该算法首先用摄像机摄取机器人所在环境的图像，然后经过计算机处理，从中识别出目标机械零件的开始位置和机器人抓取面。
Firstly, it gets the image by vidicon in the environment where the robot is. Then the computer processes the image and recognizes the beginning position of the part and the plane grasped by the robot.
针对机械零件反求建模过程中常见二次曲面的表面重建问题，提出了曲面拟合分步计算法。
To solve the problem of quadric surface reconstruction in reverse modeling for mechanical parts, a two-step fitting algorithm was presented.
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