ROBOT SYSTEM AND ROBOT CONTROL DEVICE

A robot system including a first robot and a second robot carrying out a coordinated operation, a first robot control device, a second robot control device, and a sensor, wherein each of the first and second robot control devices include a trajectory planning unit for planning an action, a control unit for executing the action, a collision prediction unit for predicting a collision and an external disturbance based on information from the sensor, and an interlocking-preventing unit, wherein a first interlocking-preventing unit of the first robot generates an avoiding trajectory and transmits the avoiding trajectory to a second interlocking-preventing unit when the first collision prediction unit predicts a collision with the external disturbance; and the first and second robots carry out actions to avoid the external disturbance.