| 摘要 |
PROBLEM TO BE SOLVED: To provide a control system, a program and a control method of machinery, etc. for appropriately correcting an influence to a force sensor by a machine mechanism when it is difficult to apply a known physical model to the machine mechanism.SOLUTION: A control system comprises: a force sensor 20 which has a machine mechanism (narrowly defined as an end effector 12) and N (N is an integer equal to or more than 2) triaxial force sensor units, acquires unit output values to which values resulting from the machine mechanism are added from the respective triaxial sensor units of the N triaxial force sensor units, and outputs force values based on the unit output values; a force value correction part 120 which corrects the force values on the basis of the force values output by the force sensor 20; and a control part 110 which controls machinery (narrowly defined as a robot 10) including the machine mechanism on the basis of the force values corrected by the force value correction part 120. |
