PURPOSE: To provide an off-line teaching method capable of performing the off-line teaching of a robot for performing work by changing a work attitude by a positioner.

CONSTITUTION: In this off-line teaching method for teaching the operation of the robot by utilizing robot images and work images displayed on the screen 11 of an image display device 10, the work images are the work images on the positioner, a work point to be taught is the work point on work for which an attitude is changed to a prescribed attitude and the arithmetic part of the image display device 10 coordinate-transforms the work points to positioner coordinate system coordinate values for the respective work points and stores an attitude change amount and all the coordinate-transformed positioner coordinate system coordinate values in a storage device. Then, when a read destination robot is specified, the positioner coordinate system coordinate values stored in the storage device are coordinate-transformed to the coordinate system of the robot and read and simultaneously, the attitude change amount is read as a positioner attitude control command.