Too bad you don't have a DS, it's this generation's JRPG house, for me.
For PS2 I recommend Final Fantasy X, Tales of Symphonya (the story is gold, for me) and if you're into heavy strategy-turn-based games, Persona Series and Disgaea series.
For PS3, the genre is REALLY missing good titles, and I would only recommend Final Fantasy XIII. If you could spend some money and time, I would take a look at PSN's PSX titles on the genre. There are plenty of good ones.