The knowledge of machining forces in robotic machining is of critical importance to ensure the accuracy and stability of the tool-workpiece interaction. To that end, this thesis presents a method for applying conventional mechanistic milling models to the prediction of cutting forces generated through the robotic machining of chamfers with arbitrary cross-sections. To apply the existing cutting force models, the edges of the workpiece to be machined are measured with a laser scanner. The resulting scan is discretized into rectangular segments, allowing the existing cutting force models to be applied to predict the forces generated through the machining of the scanned edge ... Abstract exceeds word limit