Control device, robot system, and control method for causing robot to execute work on workpiece

A control device configured to perform work on a workpiece by pressing a tool of a robot against the workpiece while an additional axis mechanism moves the robot and the workpiece relative to each other, the control device comprising a processor configured to:

• acquire and transmit to the additional axis mechanism an additional axis movement command for causing the additional axis mechanism to move the robot or the workpiece;
• generate a movement command for causing the robot to move the tool along a work target portion on the workpiece so as to follow movement of the robot or the workpiece by the additional axis mechanism, based on the additional axis movement command and operation plan data for causing the robot to perform an operation to move the tool along the work target portion;
• based on the operation plan data or the additional axis movement command, acquire a vector in a direction along the work target portion, which inclines in response to the additional axis movement command with respect to a movement vector of the tool moved by the robot in accordance with the movement command;
• determine a pressing direction in which the robot is to press the tool against the workpiece during the work based on the acquired vector;
• when the tool is moved to one corrected target position in accordance with the generated movement command, acquire a first additional axis movement command for causing the additional axis mechanism to move the robot or the workpiece during moving the tool to a next corrected target position;
• and
• generate the movement command for moving the tool to the next corrected target position by adding a movement command generated based on the first additional axis movement command to a movement command generated based on the operation plan data.