Robot system, torque sensor, displacement detection apparatus, detection method, product manufacturing method, and recording medium

The invention discloses a robot system, a torque sensor, a displacement detection apparatus, a detection method, a product manufacturing method, and a recording medium. The robot system includes: a robot including a reduction gear and an encoder; and a processing section configured to obtain a torque value by using phase information based on a detection signal of the encoder. The encoder includes: a scale including a pattern portion; and a head configured to read the pattern portion of the scale and output a detection signal. The processing portion is configured to obtain a first displacement amount of the scale in a first direction which is an opposite direction with respect to the head portion. The processing section is configured to obtain a second displacement amount of the scale in a second direction, which is an opposing direction with respect to the head and intersecting the first direction. The processing portion is configured to obtain a torque value based on the first displacement amount and the sec