| 摘要 |
A method of generating teaching data for an articulated robot to convert first teaching data which correspond to a plurality of working points P1-P7 on a first workpiece 200 into second teaching data which correspond to a plurality of working points Q1-Q7 on a second workpiece 202. The first and second teaching data both include tool coordinate data representing attitudes of an end effector (22, fig. 1) of the articulated robot (12, fig. 1) at said working points, where the tool coordinate data comprises a plurality of parameters. One of the parameters is established in advance, and the step of converting the tool coordinate data of said first teaching data into the tool coordinate data of said second teaching data so that one of the parameters of the tool coordinate data of said first teaching data matches the one established parameter of said second teaching data, is performed on the working points. |
