Robot system including robot supported by movable carriage

A robot system comprising:

• a robot configured to perform a predetermined work;
• a carriage for supporting the robot, and configured to be moved by an operation of an operator;
• a first vision sensor and a second vision sensor arranged in a workspace where the carriage is located when the robot performs the work;
• a mark disposed on a wrist of the robot;
• a control device including an arithmetic processing device configured to process information acquired by the vision sensor and controlling an operation of the robot;
• and
• a display device configured to display a result of a computation executed by the arithmetic processing device;
• wherein
• the control device changes a position and a posture of the robot so as to move the mark to the position for capturing an image of the mark by the second vision sensor and captures an image of the mark by the second vision sensor after the first vision sensor captures an image of the mark in a state where the carriage is moved to the workspace,
• the arithmetic processing device includes a position acquisition part configured to acquire positions of the mark on the basis of an image captured by the first vision sensor and an image captured by the second vision sensor, and a determination part configured to determine whether or not the robot is located at a position within a predetermined determination range on the basis of the positions of the mark acquired by the position acquiring part,
• the determination part computes, in a case when determining that the position of the robot deviates from the determination range, a direction and a movement amount in which the carriage is to be moved so as to enable the robot to reach a target position, and the display device displays the direction and the movement amount in which the carriage is to be moved.