A robot system comprising: a first robot having a first tip portion and a first articulated arm that is configured to change a position and a posture of the first tip portion; a second robot having a second tip portion and a second articulated arm that is configured to change a position and a posture of the second tip portion; and an operation control unit configured to control the first and second robots to execute a collaborative operation on a work piece, characterized in that the robot system further comprises an irregular control unit configured to control, in response to a detection of an irregular state of the first or second robot during the collaborative operation, the first and second robots to execute a collaborative counteractive operation to eliminate the irregular state, wherein the irregular state of the first robot is contact with a peripheral object, and wherein the irregular control unit is configured to: control, in response to a detection of the irregular state of the first robot during the collaborative operation, the first robot to move away from the peripheral object; control the second robot to maintain a relative relationship between the position and the posture of the first tip portion and the position and the posture of the second tip portion while the first robot moves away from the peripheral object; control, in response to a detection of the irregular state of the second robot during the collaborative operation, the second robot to move away from the peripheral object; and control the first robot to maintain a relative relationship between the position and the posture of the first tip portion and the position and the posture of the second tip portion while the second robot moves away from the peripheral object. a first robot having a first tip portion and a first articulated arm that is configured to change a position and a posture of the first tip portion; a second robot having a second tip portion and a second articulated arm that is configured to change a position and a posture of the second tip portion; and an operation control unit configured to control the first and second robots to execute a collaborative operation on a work piece, characterized in that the robot system further comprises an irregular control unit configured to control, in response to a detection of an irregular state of the first or second robot during the collaborative operation, the first and second robots to execute a collaborative counteractive operation to eliminate the irregular state, wherein the irregular state of the first robot is contact with a peripheral object, and wherein the irregular control unit is configured to: control, in response to a detection of the irregular state of the first robot during the collaborative operation, the first robot to move away from the peripheral object; control the second robot to maintain a relative relationship between the position and the posture of the first tip portion and the position and the posture of the second tip portion while the first robot moves away from the peripheral object; control, in response to a detection of the irregular state of the second robot during the collaborative operation, the second robot to move away from the peripheral object; and control the first robot to maintain a relative relationship between the position and the posture of the first tip portion and the position and the posture of the second tip portion while the second robot moves away from the peripheral object. control, in response to a detection of the irregular state of the first robot during the collaborative operation, the first robot to move away from the peripheral object; control the second robot to maintain a relative relationship between the position and the posture of the first tip portion and the position and the posture of the second tip portion while the first robot moves away from the peripheral object; control, in response to a detection of the irregular state of the second robot during the collaborative operation, the second robot to move away from the peripheral object; and control the first robot to maintain a relative relationship between the position and the posture of the first tip portion and the position and the posture of the second tip portion while the second robot moves away from the peripheral object.