The invention discloses a control device, a robot, and a robot system. Provided is a technology that can obtain the inherent vibration frequency of a robot without being influenced by external impacton the robot. The control device comprises a processor, which can receive an instruction to execute a specific operation which is an operation determined in advance; an execution part, which causes the driving part of a robot to execute the specific operation when the processor receives the instruction to execute the specific operation; and a measurement result processor, wherein the processor isconfigured to receive a measurement result of vibration measured by a measurement device installed in the robot from the measurement device in the execution of the specific operation.