The invention discloses a control device, a control system, a robot, and a robot system. When the vibration of different parts of the robot influences the control of the robot, a control signal is generated by reducing the vibration of the parts, and the influence is reduced. A control device comprises: a control signal alternation unit that is able to generate a second control signal by reducingat least one of frequency components obtained based on an output of a first detector which is installed in a portion vibrated by a robot and detects vibration from a first control signal for driving the robot and is able to output the second control signal, wherein the portion is different from the robot and an end executor installed in the robot.