Robot system and method for controlling robot

A method for controlling a robot including 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, the method comprising:

• performing, using circuitry a controller, normal control that includes controlling the multi-articular arm to move the leading end based on a motion control program that specifies a transition over time of a target position and a target posture of the leading end relative to the base, the transition including a correction target portion that starts and ends in the transition;
• performing, using the controller, force guide control that includes controlling the multi-articular arm to move the leading end in response to a guided manipulation that applies an external force to the robot during the normal control;
• obtaining relative command information that is based on the target position and the target posture of the leading end at a start point of the correction target portion and that specifies the target position and the target posture of the leading end at points in the correction target portion including a start point and an end point of the correction target portion;
• performing correction control that comprises controlling the multi-articular arm to move the leading end from the position and the posture of the leading end based on the relative command information beginning at a point of time when movement of the multi-articular arm under the force guide control has ended, the motion control program including specifying information that specifies a predetermined timing, which is set in advance of the motion control program being executed and in advance of the guided manipulation, to temporarily stop the leading end while the motion control program is being executed;
• and
• controlling the multi-articular arm to temporarily stop the leading end at the predetermined timing that is set in advance of the motion control program being executed and in advance of the guided manipulation.