A control system for controlling a robot, the control system comprising: a simulation device adapted to perform simulation using a robot model indicating a shape of the robot; a robot controller adapted to drive the robot according to a movement command provided to the robot controller; an imaging device adapted to capture images of the robot; and an estimation means (11, 102) adapted to estimate a position and pose of the imaging device relative to the robot based on a calibration image of the robot captured by the imaging device, wherein the simulation device includes: a setting means (42, 402) adapted to perform offline teaching to set a teaching point indicative of a position and pose to be taken by the robot; and an image generating means (44, 402) adapted to generate a simulation image of the robot model captured by a virtual camera arranged in a virtual space, characterized in that the image generating means (44, 402) is adapted to arrange the robot model at the teaching point in the virtual space and to generate a first simulation image of the robot model captured by the virtual camera that is arranged so that a position and pose of the virtual camera relative to the robot model coincide with the position and pose of the imaging device estimated by the estimation means (11, 102), the control system further comprising a first acquisition means (12, 102) adapted to provide the robot controller with a first movement command to the teaching point and acquire an actual image of the robot captured by the imaging device after the robot has been driven according to the first movement command; and a determination means (13, 102) adapted to determine an amount of correction of a position and pose of the robot for the teaching point so that a position and pose of the robot on the actual image approximates to a position and pose of the robot model on the first simulation image. a simulation device adapted to perform simulation using a robot model indicating a shape of the robot; a robot controller adapted to drive the robot according to a movement command provided to the robot controller; an imaging device adapted to capture images of the robot; and an estimation means (11, 102) adapted to estimate a position and pose of the imaging device relative to the robot based on a calibration image of the robot captured by the imaging device, wherein the simulation device includes: a setting means (42, 402) adapted to perform offline teaching to set a teaching point indicative of a position and pose to be taken by the robot; and an image generating means (44, 402) adapted to generate a simulation image of the robot model captured by a virtual camera arranged in a virtual space, characterized in that the image generating means (44, 402) is adapted to arrange the robot model at the teaching point in the virtual space and to generate a first simulation image of the robot model captured by the virtual camera that is arranged so that a position and pose of the virtual camera relative to the robot model coincide with the position and pose of the imaging device estimated by the estimation means (11, 102), a setting means (42, 402) adapted to perform offline teaching to set a teaching point indicative of a position and pose to be taken by the robot; and an image generating means (44, 402) adapted to generate a simulation image of the robot model captured by a virtual camera arranged in a virtual space, characterized in that the image generating means (44, 402) is adapted to arrange the robot model at the teaching point in the virtual space and to generate a first simulation image of the robot model captured by the virtual camera that is arranged so that a position and pose of the virtual camera relative to the robot model coincide with the position and pose of the imaging device estimated by the estimation means (11, 102), the control system further comprising a first acquisition means (12, 102) adapted to provide the robot controller with a first movement command to the teaching point and acquire an actual image of the robot captured by the imaging device after the robot has been driven according to the first movement command; and a determination means (13, 102) adapted to determine an amount of correction of a position and pose of the robot for the teaching point so that a position and pose of the robot on the actual image approximates to a position and pose of the robot model on the first simulation image.