US Patent 11173603 Robot system and robot

This robot system includes a sensor which obtains data for detecting at least a position of an object which is being moved, a robot at which a tool is attached, and which performs a predetermined operation for the object by means of the tool, and a controller which controls a tool moving device which moves the tool with respect to the robot, the tool, or an arm member which is located at a distal end side of an arm of the robot with a tool control cycle which is shorter than a control cycle of the robot.