Removing intersect of one polygon from another using R?

I am trying to remove the intersect from Poly2 onto Poly1. Below are the coords of the 2 polygons.

> coords1
          [,1]     [,2]
 [1,] 992.0161 7462.531
 [2,] 950.1962 7413.532
 [3,] 902.3632 7421.207
 [4,] 706.1985 7472.378
 [5,] 654.0139 7711.760

 [6,] 657.5960 7726.950
 [7,] 786.2667 7844.380
 [8,] 789.5935 7842.925
 [9,] 981.7046 7498.659
[10,] 983.4246 7493.271
[11,] 990.6680 7469.888
[12,] 992.0161 7462.531
> coords2
         [,1]     [,2]
[1,] 930.3464 7607.313

[2,] 979.3528 7502.470
[3,] 865.8662 7484.337
[4,] 850.5665 7594.947
[5,] 930.3464 7607.313

Poly1<-Polygon(coords1)
Poly2<-Polygon(coords2)

The 2 polygons looks like this What I would like to get at the end is the dark blue polygon (Poly1) without the light blue (Poly2) area i.e., new eastern coordinates.