A robot system according to an embodiment includes an arm mechanism that is articulated, a parallel link mechanism, an end effector, a detector, and a control device. The parallel link mechanism includes a fixed part mounted to a distal part of the arm mechanism, and a movable part that is mounted to the fixed part via multiple parallel links and is movable with respect to the fixed part. The end effector is mounted to the movable part. The detector is provided for detecting a position or orientation of a control point. The control device controls the arm mechanism and the parallel link mechanism. The control device performs a first operation of setting a posture of the control point to a first posture, and a second operation of setting the posture of the control point to a task posture in which the end effector performs a task.