PURPOSE: To improve teaching operation for a positioning device of a robot which works in contact with a workpiece in a position teaching system of the positioning device which teaches position to the positioning device.

CONSTITUTION: An inner force sense sensor 12 is provided at the root of a tool 11 at the tip of a robot 10, and a tactile sense sensor 13 is provided at the tip of the tool 11. When an operator holds the tool 11 directly and applies force to the tool 11, the inner force sense sensor 12 detects the force and sends the detected signal to a direct teaching means 1. The direct teaching means 1 carries out impedance control for the robot 10 based on the detected signal. When the robot 10 moves and the tactile sense sensor 13 at its tip comes into contact with a fringe of a workpiece 20, a contact judging means 3 judges based on the contact signal that the tool 11 is in contact with the workpiece 20. A taught position storage means 4 stores the contact position of the tool 11 and the workpiece 20 when the contact judging means 3 judges that they are in contact as a taught position of the robot 10 based on the result of the judgement.