To easily and accurately teach the position of a hand to a robot even when skill of an operator is insufficient. A control device of a robot includes: an image data acquisition section which acquires a substrate for teaching which is photographed by a camera and is arranged at a target position of a substrate to be a teaching object and image data of a substrate mounting section of a hand; a virtual substrate information generation section which generates information on a virtual substrate arranged virtually in the substrate mounting section of the hand in the image data; an operation section which generates operation information according to an operation by being operated; a screen display section which displays images of the substrate for teaching and the virtual substrate on a screen; a robot operation control section which controls an operation of a robot arm according to the operation information; and a teaching data recording section which stores the position of the hand as teaching data when the virtual substrate coincides with the substrate for teaching.
Robot, control device of robot, and position teaching method for robot