Robot system

A robot system comprising:

• a conveying apparatus that conveys an article;
• a robot that performs processing on the article;
• a camera that captures, at an upstream side of the robot in the conveying direction, images of the article being conveyed by the conveying apparatus and a mark being moved by the conveying apparatus;
• a conveying-velocity calculating portion that calculates at least one of a position of the article and a velocity at which the article is conveyed on the basis of the plurality of images captured by the camera;
• and
• a control unit that controls the robot on the basis of at least one of the position and the conveying velocity calculated by the conveying-velocity calculating portion,
• wherein the control unit determines whether or not the article and the mark are present in the images acquired by the camera, and, controls the robot on the basis of at least one of the position and the conveying velocity calculated by the conveying-velocity calculating portion when the article and the mark are absent, and
• wherein the conveying-velocity calculating portion outputs, in the form of the conveying velocity, an average of the velocities calculated for at least two of the articles.