A robot control system includes a processing unit which performs visual servoing based on a reference image and a picked-up image, a robot control unit which controls a robot based on a control signal, and a storage unit which stores the reference image and a marker. The storage unit stores, as the reference image, a reference image with marker in which the marker is set in an area of a workpiece or a hand of the robot. The processing unit generates, based on the picked-up image, a picked-up image with marker in which the marker is set in an area of the workpiece or the hand of the robot, performs visual servoing based on the reference image with marker and the picked-up image with marker, generates the control signal, and outputs the control signal to the robot control unit.