Robot system

A robot system, comprising:

• a robot including a plurality of drive shafts;
• and
• a control connected to the robot to control the robot,
• wherein each of the drive shafts includes a drive to operate a second member with respect to a first member,
• wherein the drive includes a motor,
• wherein the drive includes a gear to decelerate rotation of the motor and supply the rotation to the first member and the second member,
• wherein the drive includes a first encoder to detect a rotation angle position of the motor,
• wherein at least one drive includes a second encoder to detect an operation position of the second member with respect to the first member, and
• wherein the control controls the motor such that each of the drive shafts with high responsiveness is caused to operate with priority, on the basis of the rotation angle position of the motor detected by the first encoder and the operation position detected by the second encoder,
• wherein the responsiveness is determined by control gains of the plurality of drive shafts.