Off-line teaching method for a robot

An off-line teaching method for a robot for teaching the robot a position and a posture through software processing using an information processing means, comprising the steps of:

• (a) preparing, in a form capable of being processed by said information processing means, the coordinate data representing the original teaching points for defining an operation line along which said robot is to be moved, said original teaching points including at least one bent junction at which two linear segments intersects with each other;
• (b) defining a first point on one of said two linear segments, a second point on the other linear segment and a third point in the vicinity of said bent junction in order to define a circular arc of a small radius, which continuously joins the two linear segments intersecting at said bent junction, using the data relating to said bent junction in said coordinate data representing said original teaching points, said third point being situated on said small-radius circular arc which tangentially joins said two linear segments at said first and second points;
• and
• (c) teaching said robot a position and a posture at said first, second and third points in place of said bent junction.