Robot to which direct teaching is applied

An articulated robot, comprising

• a base;
• and
• a manipulator having a plurality of arms serially connected with each other and mutually rotatable via an axis arranged between two arms mutually adjacent among the arms, the plurality of arms including a first arm and a leading arm, the first arm rotatably connected to the base via a first axis, the leading arm being manually gripped by an operator who operates the plurality of arms for performing direct teaching with the plurality of arms, the direct teaching being for teaching the robot movements of the plurality of arms,
• wherein the leading arm has a cylindrical outer surface having axial and circumferential directions, an anti-slip structure being formed i) partially on the cylindrical outer surface in an axial direction and ii) around the cylindrical outer surface in the circumferential direction,
• wherein the cylindrical outer surface is provided with at least one of a cable connector or a tube connector, and
• wherein the anti-slip structure is located on only a portion of the leading arm, the leading arm being adjacent to one of the plurality of arms, the one of the plurality of arms being adjacently and rotatably connected to the leading arm via the axis, the portion of the leading arm being adjacent and closer to the one of the plurality of arms than the at least one of the cable connector or the tube connector is.