Features to the rescue

Consider arc welding, in which a welding torch is pointed at a seam between parts, at about half the angle. The outcome of this operation is a bead, which looks like a chamfer. In fact SOLIDWORKS provides a "Weld symbol" which looks just like the "Chamfer icon". So why not create a chamfer and drive along it?

Compare the effort of teaching the robot hundreds of points to trace the above shape, with creating a chamfer around it, which takes 3 seconds, and making a robot path to follow it, which takes 30 seconds more.

This is the idea behind the program. Solid bodies have faces that are defined mathematically. A Chamfer or Fillet usually looks elongated, with a distinct "length" to "width" ratio. You can think of a chamfer as a track, leading a triangular section from one end to the other.