Teaching tool, and teaching device for using operator's hand to set teaching point

A teaching apparatus configured to set a teaching point of a robot apparatus including a robot and an operation tool, comprising:

• a three-dimensional sensor configured to capture an image of a teaching tool or an image of a hand of an operator for indicating a position of a teaching point and an orientation of the robot at the teaching point;
• and
• a processing apparatus including a processor and configured to process a signal from the three-dimensional sensor, wherein
• the processor is configured to
• detect a position of a feature portion in the teaching tool or the hand of the operator based on the output of the three-dimensional sensor,
• generate a command for changing a position and an orientation of the robot such that the three-dimensional sensor physically moves with the teaching tool or the hand while maintaining a relative position and a relative orientation of the three-dimensional sensor with respect to the feature portion when the operator moves the teaching tool or the hand,
• calculate a position and an orientation of an auxiliary coordinate system preset in the teaching tool or the hand of the operator based on a position of the feature portion detected by the processor in a state where the operator arranges the teaching tool or the hand so as to correspond to the position and the orientation of the robot at the time when the robot apparatus performs an operation, and
• set a position of a teaching point and an orientation of the robot at the teaching point based on the position and the orientation of the auxiliary coordinate system calculated by the processor.