A robot system comprising: • a robot comprising a number of individual arm sections and joints, where connecting members of adj acent arm sections are interconnected by adj acent joints that are attached to each other without interconnecting arm sections or use of further elements, wherein each of said adjacent joints has only one degree of freedom in form of rotation about an axis through the j oint ; • controllable drive means provided in said adjacent joints ; • a control system for controlling said controllable drive means; wherein each of said adjacent joints comprises: • a housing , • an output axle connected to rotate an output flange relative to the housing, wherein the output flange is coupled to either i) a connecting portion of the other of the adjacent joints without interconnecting arm sections or use of further elements or ii) a connecting member, and • a connecting portion on the housing and coupled to either i) the output flange of an other of the adjacent joints without interconnecting arm sections or use of further elements or ii) a connecting member, wherein, for each of said adjacent joints , said connecting portion is provided substantially at 90 degrees relative to said output flange , wherein said robot comprises at least one connecting member in form of a thin-walled tube connected to at least two of said joints. • a robot comprising a number of individual arm sections and joints, where connecting members of adj acent arm sections are interconnected by adj acent joints that are attached to each other without interconnecting arm sections or use of further elements, wherein each of said adjacent joints has only one degree of freedom in form of rotation about an axis through the j oint ; • controllable drive means provided in said adjacent joints ; • a control system for controlling said controllable drive means; wherein each of said adjacent joints comprises: • a housing , • an output axle connected to rotate an output flange relative to the housing, wherein the output flange is coupled to either i) a connecting portion of the other of the adjacent joints without interconnecting arm sections or use of further elements or ii) a connecting member, and • a connecting portion on the housing and coupled to either i) the output flange of an other of the adjacent joints without interconnecting arm sections or use of further elements or ii) a connecting member, • a housing , • an output axle connected to rotate an output flange relative to the housing, wherein the output flange is coupled to either i) a connecting portion of the other of the adjacent joints without interconnecting arm sections or use of further elements or ii) a connecting member, and i) a connecting portion of the other of the adjacent joints without interconnecting arm sections or use of further elements or ii) a connecting member, and • a connecting portion on the housing and coupled to either i) the output flange of an other of the adjacent joints without interconnecting arm sections or use of further elements or ii) a connecting member, i) the output flange of an other of the adjacent joints without interconnecting arm sections or use of further elements or ii) a connecting member, wherein, for each of said adjacent joints , said connecting portion is provided substantially at 90 degrees relative to said output flange , wherein said robot comprises at least one connecting member in form of a thin-walled tube connected to at least two of said joints. <EOS>