Dispensing method

A dispensing method executed in a robot system, wherein the robot system comprises:

• a pipette;
• a tip attached to the pipette;
• a container including a bottom surface, an inside surface, and an opening;
• a liquid contained in the container;
• and a robot including a robot arm, an end effector attached to a leading end of the robot arm, and a robot controller that controls the robot arm and the end effector to perform operations on the pipette and the tip, the method comprising:
• making the end effector hold the pipette and the tip attached to the pipette;
• dipping at least a point of the tip attached to the pipette in the liquid and aspirating the liquid into the tip;
• bringing an outer surface of the tip attached to the pipette into contact with a part of the container, wherein the part of the container is at least one of an edge of the opening and the inside surface;
• and
• pulling the pipette and the tip attached to the pipette out of the container through the opening.