A teaching device which is configured to generate control information for controlling operations of a robot (101, 103) that is provided with a moving section (105, 107) and a working section (109, 111) which is provided on the moving section (105, 107), the teaching device comprising: a jig which is a detection target body mimicking the robot (101, 103) and includes a positional marker section indicating a position of the moving section (105, 107); a detecting section which is configured to detect the positional marker section which moves together with movement of the jig; an input section which is configured to input work information relating to work which is carried out by the working section (109, 111) at a working position in a state in which the jig has been moved to the working position; and a processing section which is configured to process detection data which is obtained by the detecting section detecting the positional marker section and the work information from the input section, wherein the processing section is configured to perform a positional information generation process of generating positional information of three-dimensional coordinates of the positional marker section based on the detection data, a movement information generation process of generating movement information relating to a movement direction and a movement speed of the positional marker section based on the positional information, and a control information generation process of generating the control information of a series of work tasks which cause the moving section (105, 107) to move according to the positional information and the movement information and cause the working section (109, 111) to perform work according to the work information. a jig which is a detection target body mimicking the robot (101, 103) and includes a positional marker section indicating a position of the moving section (105, 107); a detecting section which is configured to detect the positional marker section which moves together with movement of the jig; an input section which is configured to input work information relating to work which is carried out by the working section (109, 111) at a working position in a state in which the jig has been moved to the working position; and a processing section which is configured to process detection data which is obtained by the detecting section detecting the positional marker section and the work information from the input section, wherein the processing section is configured to perform a positional information generation process of generating positional information of three-dimensional coordinates of the positional marker section based on the detection data, a movement information generation process of generating movement information relating to a movement direction and a movement speed of the positional marker section based on the positional information, and a control information generation process of generating the control information of a series of work tasks which cause the moving section (105, 107) to move according to the positional information and the movement information and cause the working section (109, 111) to perform work according to the work information. a positional information generation process of generating positional information of three-dimensional coordinates of the positional marker section based on the detection data, a movement information generation process of generating movement information relating to a movement direction and a movement speed of the positional marker section based on the positional information, and a control information generation process of generating the control information of a series of work tasks which cause the moving section (105, 107) to move according to the positional information and the movement information and cause the working section (109, 111) to perform work according to the work information.