Computer controlled work tool apparatus and method

A method for performing a surface treatment on an area of a workpiece by moving a surface treatment device having a treatment footprint over the area;

• the method comprising:
• generating a 3D tool-path which visits all points of the area, in a tool-path generator comprising:
• a memory configured to store surface model data defining a three-dimensional (3D) surface of the area to be worked;
• a rules database comprising a plurality of rules relating to tool-path generation;
• and
• a tool-path determiner configured to determine data representing a 3D tool path along the surface of the area of the workpiece to be worked in accordance with rules from said rules database, wherein said surface model data defines said surface in a two-dimensional (2D) projection and wherein said tool-path determiner is configured to determine data representing a 2D path within said 2D projection and is configured to project the data representing said 2D path into 3D to define said data representing said 3D tool-path;
• and
• moving the surface treatment device along the 3D tool-path such that the footprint of the treatment tool passes over all points of the area.

An apparatus for treating the surface of a workpiece, the apparatus comprising:

• a support configured to support the workpiece;
• a tool configured to perform an action on or under said surface of the workpiece to treat said surface;
• and
• a controller configured to control relative movement between the support and the tool, to cause the tool to follow a non-periodic tool-path across said surface of the workpiece to perform said treatment of the surface.

An apparatus for working a workpiece, the apparatus comprising:

• a support configured to support the workpiece to be worked;
• a tool configured to effect a time-dependent cumulative action on or under a surface of the workpiece within a region that is smaller than said surface and which is located adjacent said tool;
• and
• a controller configured to control relative movement between the support and the tool to cause the tool to follow a non-periodic tool-path across said surface of the workpiece to effect said time-dependent cumulative action on or under said surface within regions of the workpiece corresponding to said tool-path.

A machine for polishing or abrading a surface of a workpiece, the machine comprising:

• a support configured to support the workpiece to be polished or abraded;
• a tool configured to effect a time-dependent polishing or abrading action on the surface of said workpiece within a region that is smaller than said surface and which is located adjacent said tool;
• and
• a controller configured to control relative movement between the support and the tool to cause the tool to follow a non-periodic tool-path across said surface of the workpiece to effect said polishing and/or abrading action within regions of the workpiece corresponding to said tool-path.

A method of abrading or polishing a workpiece comprising:

• supporting the workpiece on a support;
• providing a tool for polishing or abrading the surface of the workpiece;
• and
• controlling relative movement between the support and the tool to cause the tool to follow a non-periodic tool-path across the surface of the workpiece to effect said polishing or abrading.

A method of finishing the surface of a workpiece, the method comprising:

• supporting the workpiece on a support;
• providing a tool to perform an action on or under the surface of the workpiece to finish said surface;
• and
• controlling the relative movement between the support and the tool, to cause the tool to follow a non-periodic tool-path across said surface of the workpiece to perform said finishing of the surface.