A robot system that performs work of coupling a cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, and a robot control apparatus that controls the robot, wherein the robot control apparatus controls the robot to perform a conveyance action for the gripping unit to grip the cable with a first gripping force and convey the cable onto the board, a correction action for the gripping unit to grip the cable with a second gripping force and correct a posture of the cable based on the force acting by pressing the cable against the connector, and an insertion action for the gripping unit to grip the cable with a third gripping force and insert the cable into the connector.

A cable terminal end detection method includes a gripping step for gripping, using a hand including a first gripping section and a second gripping section disposed to be separated on an X axis and configured to open and close in a direction along a Z axis, a cable in two places separated in a longitudinal direction with the first gripping section and the second gripping section, a moving step for, in a state in which the cable is gripped by the hand, moving the cable to the first gripping section side in a direction along the X axis relatively to the hand, and a detecting step for detecting, with a tactile sensor disposed in the second gripping section to be in contact with the cable, that the cable has slipped out from the second gripping section and detecting that a terminal end of the cable is located between the first gripping section and the second gripping section.