Abstract: A robot system includes a plurality of claw members movably provided in a hand and configured to hold and release a workpiece. Further, one or more servo motors is provided to move the claw members. A controller controls an operation of each of the servo motors. The controller includes an acquisition unit configured to acquire dimension information of the workpiece, a position control unit configured to perform position control on the servo motors so that the claw members move to first positions and then to second positions pursuant to the dimension information, and a torque limiting unit configured to limit a torque command relating to each of the servo motors to a predetermined torque or less after the claw members are moved to the first positions.

Abstract: A robot system includes a robot having a plurality of joints; and a plurality of actuators configured to drive the plurality of joints, respectively. At a tip end of the robot, a hand is provided such that the hand is rotatable about a first rotation axis by one of the actuators and holds a workpiece in a position vertically offset with respect to the first rotation axis. Further, the robot system includes a controller configured to control the plurality of actuators such that the hand rotates about a second rotation axis positioned closer to the workpiece than the first rotation axis and parallel to the first rotation axis.