Robot system

A robot system comprising:

• a robot arm which performs work on a target;
• a shape measurement device which is disposed on the robot arm and measures a shape of the target;
• and
• a controller which controls the robot arm based on a result measured by the shape measurement device,
• wherein the shape measurement device includes a projection device which projects striped pattern light onto the target, an image capturing device which captures the images of the pattern light projected onto the target, and a processor which calculates the shape of the target based on the result of the capturing image by the image capturing device, and
• wherein the projection device includes a light source device which emits linear laser, an optical scanner which generates the pattern light by reflecting the laser emitted from the light source device and by scanning the target, and a scanner driver which outputs a driving signal to drive the optical scanner non-resonantly.