A control device capable of appropriately switching operating modes when multitasking is being performed is provided. A CPU unit is provided with a task executing unit for executing a plurality of tasks in parallel, and for executing each task in cycles based on each task; and a mode switching unit for switching operating modes. The task executing unit is configured in such a manner that when in operation mode, a user program is executed for each task, and when in program mode, a user program is not executed for each task. The mode switching unit is configured in such a manner that the operating mode is switched when a plurality of tasks being executed by the task executing unit are synchronized

A method of robotic collaboration comprises designating a first robot a lead robot and assigning a first task in a task area to the lead robot. Broadcasting a work query in the task area seeks the presence of subordinate robots configured to perform tasks. Receiving a work confirmation signal from a subordinate robot in the task area answers the work query with an affirmation that the subordinate robot is in the task area to perform tasks. Transmitting a task command to the subordinate robot in response to the work confirmation signal comprises a directive to perform the first task. Receiving a task confirmation signal informs the lead robot of the subordinate robot electronic characteristics comprising processing capabilities, transmit signal profile, receive signal profile, and storage device capabilities. Processing confirms whether the subordinate robot can collaborate with the lead robot to do the first task.

A safety management method sets a third space that both a worker and a robot can enter between a first space in which the worker is present and a second space in which the robot is disposed; sets, between the first space and the third space and between the second space and the third space, respectively, boundaries for monitoring crossing thereof; monitors the presence/absence of the robot or the worker in the third space; when a state of crossing of one boundary and a state of the worker or the robot in the third space are simultaneously switched to detection, restricts the operation of the robot, when crossing of another boundary is detected; and not restricts the operation of the robot when the state of crossing of the one boundary and the state of the worker or the robot in the third space are simultaneously switched to non-detection.