Robot system and coupling method

A coupling method of coupling a flexible cable to a connector provided on a board, comprising:

• a preparation step of preparing a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided;
• a conveyance step of performing a conveyance action to grip the cable using the gripping unit and convey the cable onto the board;
• an insertion step of performing an insertion action to insert the cable into the connector using the gripping unit by force control based on a detection result in the force detection unit;
• an insertion speed entry step of entering an insertion speed of the cable into the connector at the insertion action in an insertion speed entry part;
• and
• a force control information at insertion action determination step of determining force control information by a determination unit according to the insertion speed based on a calibration curve showing a relationship between the insertion speed and the force control information necessary for the force control in the insertion action and stored in a memory unit.