Control device, robot, and robot system

A control device which controls a robot having a moving part, the control device comprising:

• a processor configured to cause an end effector provided on the moving part to move an insertion object, bring the insertion object into contact with an insertion hole provided in the insertion target object in a state where the insertion object is tilted from a center axis of the insertion hole, and subsequently insert the insertion object into the insertion hole, wherein
• the processor is configured to move a position of a reference site moving with the moving part to a target position, and control to move the position of the reference site to the target position while the insertion object is inserted into the insertion hole,
• the end effector includes a screwdriver,
• the insertion object is a screw attached to the screwdriver, and
• the processor is configured to move the position of the reference site in the insertion direction at a speed which is set based on a product of a number of rotations per unit time of the screwdriver and a lead for the screw.