Teaching device and control information generation method

A teaching device which generates control information for controlling operations of a robot that is provided with a moving section and a working section which is provided on the moving section, the teaching device comprising:

• a jig which includes
• a main body corresponding to the moving section of the robot,
• end effectors on a first side of the main body, the end effectors including rod-shaped members corresponding to the working section of the robot that pinches a work piece, and
• a positional marker section fixed to the main body indicating a position of the main body;
• a detecting section including a camera which detects the positional marker section which moves together with movement of the jig;
• an input section which inputs work information at a working position in a state in which the jig has been moved to a specified work position, the work information including information directing operation of the end effectors;
• and
• processing circuitry which processes detection data which is obtained by the detecting section detecting the positional marker section and the work information from the input section,
• wherein the processing circuitry performs
• a positional information generation process of generating positional information of three-dimensional coordinates of the positional marker section based on the detection data,
• a movement information generation process of generating movement information relating to a movement direction and a movement speed of the positional marker section based on the positional information, and
• a control information generation process of generating the control information of a series of work tasks which cause the moving section to move according to the positional information and the movement information and cause the working section to perform work according to the work information.