Robot teaching system

A robot teaching system comprising:

• a camera that generates a digital image simultaneously including a welding target and a marker installed on a tip end of an industrial robot, the tip end being disposed in a position that moves similarly to a welding torch attached to a tip of a manipulator of the industrial robot;
• a terminal in communication with the camera and with the industrial robot, the terminal including a processor and a memory storing instructions which, when executed, cause the processor to:
• generate an orthogonal camera coordinate system based on the marker included in the digital image;
• generate an operation path of the industrial robot based on a welding position of the welding target included in the digital image and the camera coordinate system;
• and
• convert the operation path of the industrial robot generated from the digital image into a robot coordinate system set in a robot control apparatus based on a position of the marker installed on the tip end of the industrial robot.