A work device includes a base unit, a movable unit configured to have an end effector mounted thereto, linking mechanisms linking the base unit to the movable unit, actuators fixed to the base unit for driving the plurality of linking mechanisms, respectively, and a controller that moves the end effector by operating the actuators. A certain linking mechanism out of the plurality of linking mechanisms includes a joint. The controller includes a joint angle determination unit that determines whether or not a bending angle of the linking mechanism at the joint is within an operable range.