Patent ID: 7248012

Claim:
A method of generating teaching data for an articulated robot, which has an end effector, for successively working on a plurality of successive working points with said end effector, comprising: the first step of establishing first provisional attitudes of said end effector with respect to said working points; the second step of determining an attitude of said articulated robot at a first working point at an end of said working points; the third step of determining an attitude of said articulated robot at a final working point at the other end of said working points; the fourth step of establishing second provisional attitudes of said end effector with respect to other working points such that the attitude of the end effector of said articulated robot which is determined in said second step changes progressively to the attitude of the end effector of said articulated robot which is determined in said third step; the fifth step of correcting said first provisional attitudes with said second provisional attitudes to establish attitudes of said end effector of said articulated robot at the respective working points.