ROBOT SIMULATOR, ROBOT TEACHING DEVICE AND ROBOT TEACHING METHOD

PROBLEM TO BE SOLVED: To allow an operator to perform operation intuitively in a way easy to understand, regardless of the level of skill of the operator.SOLUTION: The robot simulator according to an embodiment includes: an image forming unit; a display unit; a display control unit; and a simulation instruction unit. The image forming unit creates a virtual image including an operation handle capable of operating a robot having at least a redundant axis, and three-dimensional coordinate axes of which the origin is a predetermined control point of the robot. The display unit displays the image. The display control unit makes the virtual image created by the image forming unit be displayed at the display unit. When operation of the operation handle by the operator is accepted, the simulation instruction unit obtains the amount of displacement of the control point or the amount of rotation of the three-dimensional coordinate axes based on the operation, and makes the image forming unit recreate the virtual image in which posture of the robot is changed according to the amount of displacement or the amount of rotation having been obtained.