A robot system includes a robot including rotary joints to be rotated and driven about axes by a motor, and a control device that controls the motor based on external force torque about the axes that acts on each of the respective rotary joints, a force point to apply external force is preset to the robot, and the control device calculates distances from the axes of the rotary joints to the force point based on angles of the rotary joints of the robot, and adjusts and increases an operation amount to the motor as the calculated distances decrease.