A
robot system which requires no manual teaching operation in acquiring calibration values for coordinate transformation, and improves the calibration accuracy includes a
robot body, a camera, and a control apparatus. The control apparatus measures, via the camera, a calibration plate at each position and orientation of a first position and orientation group including a
reference measurement position and orientation and a position and orientation within a first offset range, calculates a first calibration value based on the measurement value, measures, via the camera, the calibration plate at each position and orientation of a second position and orientation group including a reference operation position and orientation different from the
reference measurement position and orientation, and a position and orientation within a second offset range, calculates a second calibration value based on the measurement value, and activates the
robot body by using the first and second calibration values.