The present invention relates to a robot controller, a robot system, a robot and a robot control method. The robot includes a control unit that controls a movable unit of the robot to move an end point of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.