Robot system and control method for robot system

A robot system comprising a sensor for detecting a shape of an article being conveyed, a robot equipped with a gripping device capable of gripping a detected article, and a controller for controlling the robot, the controller comprising;

• a gripping area setting unit that, for each one of detected articles, sets a gripping area in which the gripping device is to be positioned when the gripping device grips the article;
• a determination unit that determines presence or absence of interference between the gripping area that has been set and other articles;
• a storage unit that stores a result of determination on the presence or absence of interference determined by the determination unit in association with each detected article;
• a robot control unit that controls the robot to cause the gripping device to pick up an article for which no other article interferes with the gripping area thereof;
• and
• an updating unit that updates the result of determination stored in the storage unit every time an article is picked up by the gripping device.