Robot and instruction method thereof

A robot comprising:

• a robot arm having a distal end to which a wrist axis is horizontally rotatably provided;
• an arm drive unit configured to move the robot arm;
• a wrist axis drive unit configured to rotate the wrist axis;
• and
• a robot control unit configured to control the arm drive unit and the wrist axis drive unit,
• wherein the robot control unit is configured to:
• control the arm drive unit to move the distal end of the robot arm so as to bring a contact member attached to the wrist axis into contact with an instruction target under a state in which the wrist axis drive unit does not resist a contact reaction force from the instruction target so that an angular position thereof is freely movable,
• detect a posture of the robot arm and an angular position of the wrist axis at a point of time when the wrist axis begins to be angularly displaced due to the contact between the contact member and the instruction target, and
• determine a position of an instruction point based on detection results of the posture of the robot arm and the angular position of the wrist axis.