| 摘要 |
PROBLEM TO BE SOLVED: To provide a control system that appropriately corrects influence of a machine mechanism on a force sensor when it is difficult to apply a known physical model to the machine mechanism, and further to provide a program, a control method for a mechanical device and the like.SOLUTION: A control system 100 for a mechanical device 10 comprises: a force sense value correction section 120 that acquires a force sense value from a force sensor 20 provided corresponding to a machine mechanism 12 of the mechanical device 10 and performs correction processing of the force sense value; and a control section 110 for performing control of the mechanical device 10 on the basis of a force sense value after the correction processing. The force sense value correction section 120 performs the correction processing on the basis of a plurality of force sense values obtained in a plurality of pieces of orientation of the mechanical device 10. |
