Direct teaching method of robot

A direct teaching method of a robot, the robot including a plurality of robot arms, the direct teaching method comprising:

• specifying one of the plurality of robot arms as a master arm and specifying as a slave arm at least one of the plurality of robot arms which is other than the master arm;
• deriving relative positions and postures of a wrist part of the master arm located at an initial position and a wrist part of the slave arm located at an initial position and storing the relative positions and postures as a predetermined relation;
• causing the slave arm to operate cooperatively with the master arm so that the relative positions and postures of the wrist part of the master arm and the wrist part of the slave arm become the predetermined relation, while a teaching person is directly applying a force to an arbitrary location of the master arm including a tool, to move the master arm from the initial position to a desired teaching position;
• and
• at a time point when the master arm has reached the desired teaching position, storing position information of the master arm and position information of the slave arm.