# US 2006/0255758 A1 · Teaching data preparing method for articulated robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2006/0255758 A1 - Document ID: US20060255758A1 - Status: Published application - Kind: A1 - Application number: 10/558,641 - Filed: 2004-06-02 - Published: 2006-11-16 - Earliest claimed: 2003-06-02 - Assignees: Honda Motor Co., Ltd. - Inventors: Koji Takahashi; Shinji Aoki; Yutaka Mitsuhasi - Web page: https://patentgrep.com/patent/US20060255758A1 ## CPC - G05B 19/425: Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector - G05B 2219/36461: Teach for each next similar fixture, piece only some reference points - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract 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 a plurality of work points (step S5). Set the second temporary attitudes of an end effector respectively for the other work points so that the attitude of an end effector gradually changes from the first work point toward the final work point (step S6). Correct the first temporary attitude with the second temporary attitude (step S7). ## Claims ### Claim 1 A method of generating teaching data for an articulated robot, 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; and the fifth step of correcting said first provisional attitudes with said second provisional attitudes to establish attitudes of said end effector at the respective working points. ### Claim 2 (depends on 1) A method of generating teaching data for an articulated robot according to claim 1, wherein said second step determines the attitude of said articulated robot at said first working point in order for the end effector to reach said first working point within a shortest time from a teaching spot preceding said first working point. ### Claim 3 (depends on 1) A method of generating teaching data for an articulated robot according to claim 1, wherein said third step determines the attitude of said articulated robot at said final working point in order for the end effector to reach a teaching spot following said final working point within a shortest time from said final working point. ### Claim 4 (depends on 1) A method of generating teaching data for an articulated robot according to claim 1, wherein said fourth step comprises: the first substep of determining a difference between the attitudes of the end effector of said articulated robot which are determined respectively in said second step and said third step; and the second substep of establishing the second provisional attitudes by proportionally dividing the attitudes of the end effector of said articulated robot which are determined respectively in said second step and said third step, by a distance ratio of each of the working points from said first working point to a total path distance from said first working point to said final working point. ### Claim 5 (depends on 1) A method of generating teaching data for an articulated robot according to claim 1, wherein said fourth step comprises: the first substep of determining a difference between the attitudes of the end effector of said articulated robot which are determined respectively in said second step and said third step; the second substep of determining a proportionally divided attitude by proportionally dividing the attitudes of the end effector of said articulated robot which are determined respectively in said second step and said third step, by a distance ratio of each of the working points from said first working point to a total path distance from said first working point to said final working point; and the third substep of determining the attitudes of said end effector at said proportionally divided attitude as said second provisional attitudes. ### Claim 6 (depends on 1) A method of generating teaching data for an articulated robot according to claim 1, wherein said fourth step comprises: the first substep of recording the attitudes of said end effector at respective predetermined times while simulatively moving said end effector from said first working point to said final working point on the condition that the attitudes of said end effector at said first working point and said final working point become the attitudes determined respectively in said second step and said third step; and the second substep of selecting attitudes, which correspond to a moving time ratio of the attitudes of said end effector recorded in said first substep, based on a distance ratio of each of the working points from said first working point to a total path distance from said first working point to said final working point. ### Claim 7 (depends on 6) A method of generating teaching data for an articulated robot according to claim 6, wherein when said end effector is simulatively moved in said first substep, said end effector is moved in a shortest time from said first working point to said final working point. ### Claim 8 (depends on 6) A method of generating teaching data for an articulated robot according to claim 6, wherein when said end effector is simulatively moved in said first substep, said end effector is moved straight from said first working point to said final working point. ### Claim 9 (depends on 1) A method of generating teaching data for an articulated robot according to claim 1, wherein said fifth step replaces at least one of a plurality of parameters representing said first provisional attitudes with parameters representing said second provisional attitudes. ### Claim 10 (depends on 1) A method of generating teaching data for an articulated robot according to claim 1, wherein said first step establishes said first provisional attitudes such that working members of said end effector perpendicularly face a workpiece; and said fifth step corrects said first provisional attitudes to keep said working members perpendicularly facing said workpiece. ### Claim 11 A method of generating teaching data for an articulated robot to convert first teaching data for said articulated robot which correspond to a plurality of working points on a first workpiece into second teaching data for said articulated robot which correspond to a plurality of working points on a second workpiece, wherein said first teaching data and said second teaching data include tool coordinate data representing attitudes of an end effector of said articulated robot at said working points, said tool coordinate data comprising a plurality of parameters; and one of the parameters of the tool coordinate data of said second teaching data 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 said working points. ### Claim 12 (depends on 11) A method of generating teaching data for an articulated robot according to claim 11, wherein said first teaching data and said second teaching data include entry direction data with respect to said working points, said entry direction data being copied from said first teaching data into said second teaching data at each of said working points. ### Claim 13 (depends on 11) A method of generating teaching data for an articulated robot according to claim 11, wherein said first teaching data and said second teaching data include revolutionary information relative to a rotational angle of at least one joint at each of said working point, said revolutionary information being copied from said first teaching data into said second teaching data at each of said working points. ### Claim 14 (depends on 11) A method of generating teaching data for an articulated robot according to claim 11, wherein said second teaching data includes first provisional working point data representative of a provisional point preceding a first working point of said working points and second provisional working point data representative of a provisional point following a final working point of said working points, said first provisional working point data being established based on tool coordinate data at said first working point, and said second provisional working point data being established based on tool coordinate data at said final working point.