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Yes. You can.
Because the .chm format is a Microsoft creation, the compiler is essentially free. Probably the best place to look is msdn. They should be able to give you the syntax.
Note that this does not work for the RoboHelp-proprietary formats (WebHelp leaps to mind). I went all round Robin Hood's barn trying to explain the twin concepts of "proprietary" and "seat license" to one configuration team that absolutely insisted that they be able to build WebHelp nightly from the files I stashed in ClearCase. So stick with .chms if at all possible.
RH can not be automated in any usual way. It does not accept whatever command line commands and does not provide whatever API that can be used for this purpose. Really unbelievable for the 'industry standard in help authoring' , but true.
You can use a tool like Automate from unisyn.com or similar to start RH and then automatically click buttons, menu commands etc. to do what you need