PURPOSE: To perform the direct teaching of a robot easily and quickly by arranging the command means of the direct teaching device of a robot at the vicinity of the end effecter of the robot.

CONSTITUTION: The means 2 storing the point where a robot 1 has to pass through and the command means 3 commanding to the memory means 2 that the position where the robot 1 moved at instruction time is located at the position to be stored by this memory means 2 is the position to be stored, are provided on the direct teaching device of the robot 1. In this case, this command means 3 is arranged at the vicinity of the end effecter 4 of the robot 1. So an operator can operate a position storing means at hand after moving the arm, etc. of the robot at the time when the direct teaching of the robot 1 is performed and the direct teaching of the robot can be performed easily and quickly even in case of one operator.