In robot teaching programming, a robot teaching programming method, apparatus and system, and a computer-readable medium, can realize the programming of a robot simply, and are not restricted in terms of robot types. A robot teaching programming system includes a movable apparatus for imitating movement of an end effector of a robot in a working space of the robot; a robot teaching programming apparatus for recording first movement information of the movable apparatus in a first coordinate system and converting the same to second movement information in a second coordinate system of the robot, and then programming the robot according to the second movement information. Using a movable apparatus to simulate an end effector of a robot has the advantages of ease of operation, and no restrictions in terms of robot types. Teaching programming is accomplished through simple coordinate transformation, and there is no need for advanced programming skills.