Patent ID: 8725285

Claim:
A robot system comprising: a robot provided with a holder configured to hold one of a plurality of workpieces contained in a container; a shape sensor configured to detect a shape of the workpiece; an inspection device configured to inspect a holding condition of the workpiece held by the robot; a temporary placement table on which the workpiece is temporarily placed; and a control device configured to control operations of the robot and the shape sensor, wherein the control device is: configured to, when the inspection device has determined that the holding condition of the workpiece is acceptable in a state in which the holder holds any of the workpieces in the container, transfer the workpiece to a subsequent step, and configured to, when the inspection device has determined that the holding condition of the workpiece is unacceptable, place the held workpiece on the temporary placement table, detect the shape of the workpiece by performing the detection on the temporary placement table using the shape sensor, and again hold the workpiece using the holder and transfer the workpiece to the subsequent step, the shape of the workpiece is in a cross-sectional asymmetry, the subsequent step is provided with a face up workpiece receiver that is configured to receive a workpiece that is facing up and a face down workpiece receiver that is configured to receive a workpiece that is facing down, the inspection device detects an orientation of the workpiece that is held by the holder, in addition to the inspection of the holding condition of the workpiece, the orientation being one of facing up and facing down, and a robot operation controller passes the workpiece to one of the face up workpiece receiver and the face down workpiece receiver, based on a result of the detection of the orientation of the workpiece.