A control system (1) includes: a control device (100) that controls a robot (200); a three-dimensional sensor (300) that acquires positional information of a worker and the robot (200), which are included in a viewing-field area in a three-dimensional space; and a support device (400) that provides a user interface (411) for virtually setting a cooperation region in which the worker and the robot (200) are allowed to work. The control device (100) controls stopping or the speed of the robot (200) on the basis of whether or not the position of the worker or the robot (200) calculated on the basis of the positional information is included in the cooperation region, which is set by using the user interface (411), as well as the relative positional relationship between the worker and the robot (200) calculated on the basis of the positional information.