Task teaching method and task teaching system

A task teaching method executed by a task teaching apparatus for teaching a task to a robot that includes a gripper unit configured to grip a grip target object and moves the grip target object gripped by the gripper unit,

• the task teaching method comprising:
• a first step of preparing a marker of a coordinate system in a task environment;
• a second step of outputting first time-series data regarding a position and an attitude of the grip target object obtained by gripping and moving the grip target object in the task environment and generating first teaching data regarding an operation of the robot corresponding to the first time-series data;
• a third step of moving the robot to the task environment after the second step;
• a fourth step of outputting second time-series data regarding a position and an attitude of the grip target object or the gripper unit obtained by operation of the robot using the first teaching data before an actual task is executed by the robot and after the third step;
• and
• a fifth step of generating second teaching data regarding an operation of the robot corresponding to a difference between the first time-series data and the second time-series data, wherein
• the first time-series data, the second time-series data, the first teaching data, and the second teaching data are generated based on the coordinate system, and
• the third step includes getting the robot to measure the marker of the coordinate system and to recognize the coordinate system.