Robot system and robot control device

A robot system comprising:

• a first robot;
• a second robot configured to perform a cooperative operation with the first robot, wherein the cooperative operation comprises supporting of a single target object;
• a sensor;
• and
• a control device comprising a processor configured to:
• receive, from the sensor, information indicating presence or approach of a disturbance in a predefined trajectory of at least one of the first robot or the second robot;
• predict, based on the information, a collision of the first robot or the second robot with the disturbance during the cooperative operation;
• generate, responsive to predicting the collision, avoidance trajectory data according to at least a maximum acceleration of at least one of the first robot or the second robot, the avoidance trajectory data comprising an avoidance trajectory for a portion of at least one of the first robot or the second robot to avoid the disturbance or maintain support of the single target object during the present or approach of the disturbance;
• and
• transmit the avoidance trajectory data to the first robot and the second robot, wherein the first robot and the second robot execute the avoidance trajectory responsive to the avoidance trajectory data.