Control system, program, and method of controlling mechanical equipment

Abstract

A control system includes a force sensor that has a mechanical mechanism (e.g., an end effector) and N (N is an integer equal to or more than two) triaxial force sensor units, acquires unit output values to which values resulting from the mechanical mechanism have been added from the respective triaxial force sensor units of the N triaxial force sensor units, and outputs force sense values based on the unit output values, a force sense value corrector that corrects the force sense values based on the force sense values output by the force sensor, and a controller that performs control of mechanical equipment (e.g., a robot) including the mechanical mechanism based on the force sense values corrected in the force sense value corrector.

What is claimed is: 
     
         1 . A control system comprising:
 an end effector that is prior to a force sensor;   the force sensor that has N (N is an integer number equal to or more than two) multiaxial force sensor units, acquires unit output values from the respective multiaxial force sensor units, and outputs force sense values;   a force sense value correction unit that estimates a weight distribution of the end effector based on the unit output values contained in the force sense values, and performs correction processing based on the estimated information related to the weight distribution; and   a control unit that performs control of a robot including the end effector based on the force sense values corrected in the force sense value correction unit.