Robot system

A robot system comprising a robot including movable members, and a control apparatus programmed to control operation of the robot, wherein the control apparatus is further programmed to implement:

• an emergency stop controller configured to halt operation of the movable members in response to receipt of an external force by the movable members during operation of the movable members;
• a direction calculator configured to determine, after the emergency stop controller stops the operation of the movable members, a moving direction to be adopted by the movable members, based on the external force received by the movable members;
• a speed calculator configured to determine a moving speed to be adopted by the movable members, wherein the moving speed is determined with a variable coefficient defined to decrease over time starting from when the emergency stop controller places the movable members on halt and a magnitude of the external force imposed on the movable members after the emergency stop controller places the movable members on halt;
• and
• a movement controller configured to move the movable members in the determined moving direction at the determined moving speed.