Robot system and control method

A robot system, comprising:

• an articulated robot equipped with a tool that performs work on a workpiece, the tool attached to a distal-end wrist axis having an operating range of 360° or more;
• a sensor that detects a position and an orientation of the workpiece;
• and
• a controller configured to control the robot based on an operation program,
• wherein the operation program includes two or more teaching points, each of which defines a position and an orientation of the tool, and an operation instruction for moving each joint, between the teaching points, in a direction in which a rotation amount thereof is minimized,
• wherein the controller is configured to:
• correct the position and the orientation of the tool at a first teaching point where work is to be performed on the workpiece based on the position and the orientation of the workpiece detected by the sensor;
• determine whether or not an angle of the distal-end wrist axis at the first teaching point, which is calculated based on the position and orientation of the tool after correction, exceeds an operating limit;
• and
• when it is determined that the operating limit is exceeded, change the angle of the distal-end wrist axis, at each of the first teaching point and one or more of other teaching points adjacent to the first teaching point, to an angle to be within the operating range by increasing or decreasing the angle by 360°.