Robot and robot system

A robot system comprising:

• a controller;
• a visual target provided on a predetermined surface where a relative position with respect to a work target device is predetermined, the work target device being secured to an installation surface;
• a robot that is operated according to a teaching program executed by the controller and includes a tool, performing work on the work target device, a wrist unit, and a movable unit, the tool being attached to a distal end of the wrist unit, and the wrist unit being attached to a distal end of the movable unit;
• wherein the visual target and the work target device are separate targets;
• wherein the teaching program is preliminarily generated on the basis of a first relative positional relationship between the robot and the work target device in a state in which the robot is disposed at a predetermined position;
• and
• a visual sensor that is attached to the movable unit or a portion except for a distal end face of the wrist unit;
• wherein the controller is configured to:
• when the robot is disposed at any position, before executing the teaching program, cause the visual sensor to capture the predetermined surface from a plurality of positions so as to acquire a plurality of images;
• determine whether or not the visual target is included in each of the plurality of images;
• and
• in response to determining that the visual target is included in each of the plurality of images, measure a second relative positional relationship between the robot and the work target device from the plurality of images and compensate an operating position of the robot in the teaching program on the basis of the measured second relative positional relationship.