Set the first temporary attitude of an end effector for a plurality of work points (step S3). Determine the attitude of an articulated robot at one-end first work point out of a plurality of work points (step S4). Determine the attitude of an articulated robot at the other-end final work point out of...http://www.google.co.uk/patents/US7248012?utm_source=gb-gplus-sharePatent US7248012 - Teaching data preparing method for articulated robot
