Provided is a gripping position and attitude teaching device capable of generating a gripping position and attitude of a robot for each attitude which a component can adopt.This gripping position and attitude teaching device is provided with: a component introduction attitude calculating unit which calculates an introduction attitude that a component can adopt; a gripping attitude selecting unit for selecting a gripping attitude of a hand for each introduction attitude of the component; a gripping position region extracting unit which extracts, as a gripping position region, a region in which the positions in which a gripping type is identical are gathered together; and a gripping position and attitude output unit which determines a gripping position within the gripping position region extracted by the gripping position region extracting unit, and outputs the same as a gripping position and attitude for each introduction attitude.
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