OPERATION DEVICE, CONTROL SYSTEM, CONTROL METHOD, AND PROGRAM

An operation device includes an inputter for operating a robot. An outputter outputs an image to the inputter. A detector detects a posture of the inputter in a first coordinate system. Based on the posture, a turner turns a second coordinate system. Upon specification of a point on the image, a generator determines a motion direction of a leading end of the robot in the second system in correlation with a positional relationship between the one point and a reference point on the image; determines a motion scalar quantity of the leading end in correlation with a distance between the one point and the reference point; and generates a motion command including the motion direction and the motion scalar quantity. A convertor converts the command into a first-coordinate-system motion command. A command outputter outputs a control command.