The present invention relates to a teaching data preparation device and a teaching data preparation method for an articulated robot. Pre-existing position data that approximates new position data is retrieved from a database that, from among data related to working points for a pre-existing workpiece, stores for each working point pre-existing position data that indicates the position of the working point and pre-existing orientation data that indicates the orientation of an end effector at the working point. Next, pre-existing orientation data that is associated with the retrieved pre-existing position data is extracted. Next, incomplete new orientation data is completed using the extracted pre-existing orientation data. As a result of this series of processes, the precision of teaching data can be improved.

The present invention relates to a teaching data preparation device and a teaching data preparation method for an articulated robot. Pre-existing position data that approximates new position data is retrieved from a database that, from among data related to working points for a pre-existing workpiece, stores for each working point pre-existing position data that indicates the position of the working point and pre-existing orientation data that indicates the orientation of an end effector at the working point. Next, pre-existing orientation data that is associated with the retrieved pre-existing position data is extracted. Next, incomplete new orientation data is completed using the extracted pre-existing orientation data. As a result of this series of processes, the precision of teaching data can be improved.