A robot (1010A) teaching device, which performs teaching and generates teaching data for assembly work between a flexible object (1040) and an object (1050) by moving a flexible object-holding unit (1030) that holds the flexible object. The device determines the arrival of the tip (1042) of the flexible object at the object with an arrival-determining unit (2010), acquires information on the state of bending of the flexible object assessed using a bend-acquiring unit (2030) when the arrival-determining unit determines arrival, and on the basis of the acquired assessment information, makes a prescribed teaching notification using a notification unit (2060).
展开▼
