[Problem] To improve the versatility of tasks performed by a robot. [Solution] A system 1 for teaching a robot in which a control device 20 comprises: a recognition unit 22 that recognizes object information S2 representing an object included in task information S1 acquired by an acquisition device 10 and motion information S3 representing an action performed on the object; a storage unit 23 for storing the recognized object information S2 and motion information S3; a control unit 24 that generates a task command S5 on the basis of the stored object information S2 and motion information S3; and a communication unit 21 that transmits the generated task command S5 to a first robot 2.
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