A robot system, comprising: a robot comprising: a leading end; a base; and a multi-articular arm configured to adjust a position and a posture of the leading end relative to the base; a normal controller configured to control the multi-articular arm to move the leading end based on a motion program that specifies a transition over time of a target position and a target posture of the leading end relative to the base; and a force guide controller configured to control the multi-articular arm to move the leading end in response to a guide manipulation of applying an external force to the robot while the normal controller is controlling the multi-articular arm; characterized by the transition comprising a correction target section in which the robot is to perform work based on: - a position and a posture adapted by the guide manipulation, which are a position and a posture of the leading end as of a point of time when movement of the multi-articular arm controlled by the force guide controller ended, and - relative command information that specifies, relative to the adapted position and the adapted posture, the target position and the target posture of the leading end at points of the correction target section including a start point and an end point of the correction target section, the relative command information being specified in the motion program for performing the work relative to the adapted position and the adapted posture; a relative information obtainer configured to obtain, from the motion program, the relative command information; and a correction controller configured to control the robot to perform the work by controlling the multi-articular arm to move the leading end, by applying the relative command information to the adapted position and the adapted posture. a robot comprising: a leading end; a base; and a multi-articular arm configured to adjust a position and a posture of the leading end relative to the base; a normal controller configured to control the multi-articular arm to move the leading end based on a motion program that specifies a transition over time of a target position and a target posture of the leading end relative to the base; and a leading end; a base; and a multi-articular arm configured to adjust a position and a posture of the leading end relative to the base; a normal controller configured to control the multi-articular arm to move the leading end based on a motion program that specifies a transition over time of a target position and a target posture of the leading end relative to the base; and a force guide controller configured to control the multi-articular arm to move the leading end in response to a guide manipulation of applying an external force to the robot while the normal controller is controlling the multi-articular arm; characterized by the transition comprising a correction target section in which the robot is to perform work based on: - a position and a posture adapted by the guide manipulation, which are a position and a posture of the leading end as of a point of time when movement of the multi-articular arm controlled by the force guide controller ended, and - relative command information that specifies, relative to the adapted position and the adapted posture, the target position and the target posture of the leading end at points of the correction target section including a start point and an end point of the correction target section, the relative command information being specified in the motion program for performing the work relative to the adapted position and the adapted posture; - a position and a posture adapted by the guide manipulation, which are a position and a posture of the leading end as of a point of time when movement of the multi-articular arm controlled by the force guide controller ended, and - relative command information that specifies, relative to the adapted position and the adapted posture, the target position and the target posture of the leading end at points of the correction target section including a start point and an end point of the correction target section, a relative information obtainer configured to obtain, from the motion program, the relative command information; and a correction controller configured to control the robot to perform the work by controlling the multi-articular arm to move the leading end, by applying the relative command information to the adapted position and the adapted posture.