A control device comprising: a control signal generation unit configured to generate one or more second control signals obtained by reducing at least one frequency component from a first control signal; a control signal switching unit configured to output one control signal among the first control signal and the one or more second control signals; a reception unit configured to receive an instruction indicating execution of a reduction in the frequency component; and a driving signal generation unit (350, 360) configured to generate a driving signal for driving a robot based on the control signal output from the control signal switching unit and output the driving signal to the robot, wherein the control signal switching unit is configured to output the first control signal when a first condition including non-input of the instruction indicating the execution of the reduction in the frequency component is satisfied, wherein the control signal switching unit is configured to output the one or more second control signals when a second condition including input of the instruction indicating the execution of the reduction in the frequency component is satisfied and an inferior condition determined in advance is not satisfied, and characterized in that the control signal switching unit is configured to output the first control signal when a third condition, including both the input of the instruction indicating the execution of the reduction in the frequency component and satisfaction of the inferior condition, is satisfied, wherein the inferior condition is that the first control signal is generated so that a tracking process of operating the robot while tracking a moving target is realized; or that the first control signal is generated based on an output of a force detection unit installed in the robot; or that the first control signal is generated under the continuous path control in which the robot is operated along a movement path determined in advance. a control signal generation unit configured to generate one or more second control signals obtained by reducing at least one frequency component from a first control signal; a control signal switching unit configured to output one control signal among the first control signal and the one or more second control signals; a reception unit configured to receive an instruction indicating execution of a reduction in the frequency component; and a driving signal generation unit (350, 360) configured to generate a driving signal for driving a robot based on the control signal output from the control signal switching unit and output the driving signal to the robot, wherein the control signal switching unit is configured to output the first control signal when a first condition including non-input of the instruction indicating the execution of the reduction in the frequency component is satisfied, wherein the control signal switching unit is configured to output the one or more second control signals when a second condition including input of the instruction indicating the execution of the reduction in the frequency component is satisfied and an inferior condition determined in advance is not satisfied, and characterized in that the control signal switching unit is configured to output the first control signal when a third condition, including both the input of the instruction indicating the execution of the reduction in the frequency component and satisfaction of the inferior condition, is satisfied, wherein the inferior condition is that the first control signal is generated so that a tracking process of operating the robot while tracking a moving target is realized; or that the first control signal is generated based on an output of a force detection unit installed in the robot; or that the first control signal is generated under the continuous path control in which the robot is operated along a movement path determined in advance.