Teaching system, robot system, teaching method for robot, and teaching program for robot

The invention provides a teaching system. A teaching system (100) includes a teaching point generation device (2) that generates teaching points of a robot (1), a manipulator (3) that is operated by a user, an image generation device (4) that generates a VR image (8) in which a virtual robot (81) corresponding to the robot (1) is disposed in a VR space (80), and a display (5) that displays the VR image (8). An image generation device (4) generates a VR image (8) in which a virtual robot (81) operates in response to an operation on an operator (3). The teaching point generation device (2) generates a teaching point corresponding to the position of the virtual robot (81) in the VR space (80) generated by the image generation device (4). 本发明提供一种示教系统。示教系统(100)包括示教点生成装置(2)、操作器(3)、图像生成装置(4)以及显示器(5)，所述示教点生成装置(2)生成机器人(1)的示教点，所述操作器(3)由用户操作，所述图像生成装置(4)生成与机器人(1)相对应的虚拟机器人(81)被配置在VR空间(80)的VR图像(8)，所述显示器(5)显示VR图像(8)。图像生成装置(4)生成虚拟机器人(81)响应于对操作器(3)的操作而动作的VR图像(8)。示教点生成装置(2)生成与由图像生成装置(4)所生成的虚拟机器人(81)的VR空间(80)中的位置相对应的示教点。