Robot system

A robot system, comprising:

• a robot on which a hand for handling a workpiece is mounted;
• a movement mechanism configured to change relative positions of the robot and the workpiece;
• a workpiece sensor configured to detect a position of the workpiece with respect to the robot;
• an obstacle sensor configured to detect a position of a surrounding obstacle with respect to the movement mechanism;
• and
• a control device that controls the robot and the movement mechanism, wherein
• the robot comprises a load sensor configured to detect a load acting on at least one of operating shafts of the robot, and
• the control device is configured to:
• generates a first map that indicates arrangements of the workpiece and the obstacle from the position of the workpiece detected by the workpiece sensor and the position of the obstacle detected by the obstacle sensor,
• generates a second map that indicates a degree of influence on a lifetime of the robot for each of the relative positions set by the movement mechanism on a basis of the load detected by the load sensor when the workpiece is lifted up by the hand, and
• determines the relative positions set by the movement mechanism on a basis of the generated first map and second map.