Control Device And Robot System

A robot system comprising:

• a robot;
• and
• a control device that comprises a processor that is configured to execute computer-executable instructions so as to control a driving of the robot having a robot arm and accept a command from an input unit which enables an input operation;
• and a storage that stores information about the driving of the robot,
• wherein the processor is configured to carry out first drive control to move a predetermined part of the robot arm or of an end effector connected to the robot arm from a first position toward a second position if the processor accepts a first command to move the predetermined part, and second drive control to move the predetermined part in such a way as to return along at least a part of a route which the predetermined part traces when moving from the first position toward the second position, based on the information stored in the storage, if the processor accepts a second command to retract the predetermined part after the first command.