Robot system

A robot system comprising:

• a robot including a plurality of arms;
• a plurality of noncontact sensors disposed in the arms and configured to detect presence of an object;
• and
• a robot control apparatus programmed to control operation of the robot based on sensed values that are output from the noncontact sensors, wherein:
• the robot control apparatus includes
• a memory in which a program is stored, and
• a processor programmed to execute the program stored in the memory;
• and
• the processor is programmed
• to control the robot to perform a preprogrammed operation,
• to set correspondence information by associating each of intervals of the preprogrammed operation with reference information on the sensed values that are output from the noncontact sensors due to the preprogrammed operation, and
• to control, after the correspondence information has been set, the robot to perform the preprogrammed operation, and to perform a stop control or a deceleration control of the robot by comparing the sensed values that are output from the noncontact sensors with the reference information on the sensed values related to the intervals.