Control method and control device for robot system

The invention provides a control method and a control device of a robot system capable of conveying an object with good precision. A control method of a robot system, which holds an object conveyed by a conveyance device and conveys the held object to a target position, includes: a conveyance start position prediction step of predicting a conveyance start position; determining a predicted position at which transport of the object to the target position is started; a transport path generation step of generating a transport path of the object from the predicted position to the target position; a conveyance start step of starting conveyance of the held object to the target position; and a correction step of correcting the conveyance path using the difference between the predicted position and a start position at which the conveyance is started. 本申请提供能够精度良好地进行对象物的输送的机器人系统的控制方法及控制装置。机器人系统的控制方法是保持由输送装置输送的对象物并将所保持的所述对象物输送至目标位置的机器人系统的控制方法，所述机器人系统的控制方法包括：输送开始位置预测步骤，求出开始向所述目标位置输送所述对象物的预测位置；输送路径生成步骤，生成从所述预测位置到所述目标位置的所述对