Manipulator system

A manipulator system configured to perform a work to a workpiece being moved by a moving device, comprising:

• a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached;
• a first imaging means configured to image the workpiece, while following a movement of the workpiece;
• a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece;
• a displaying means configured to display, to a worker, a first image imaged by the first imaging means and a second image imaged by the second imaging means;
• an operating device configured to be operated by the worker and receive a manipulation input, the worker operating the operating device to perform manipulation of the robotic arm while viewing the first image and the second image displayed by the displaying means;
• and
• a control device configured to:
• detect a moving amount of the workpiece being moved by the moving device;
• generate a tracking-controlled operation that is an operation of causing the robotic arm to follow the workpiece according to the detected moving amount of the workpiece;
• and
• add, to the tracking-controlled operation, a manipulation-controlled operation that is an operation of the robotic arm according to an operating instruction corresponding to the manipulation input to the operating device so as to control the robotic arm, such that the robotic arm performs the manipulation-controlled operation while performing the tracking-controlled operation.