Calibration device, calibration method, and control device

A calibration device comprising:

• processing circuitry to perform a process to:
• acquire position information showing a position and a posture of control target equipment which constructs a device performing a force control and has at least either of a changing position and a changing posture;
• acquire information about a force applied to the control target equipment from a detection result of a force sensor disposed in the control target equipment;
• estimate the force applied to the control target equipment from the position information acquired by using a physical model, to acquire estimated force information;
• estimate a difference between estimated force information and force information using a linear or nonlinear model on a basis of the position information acquired, the force information acquired, and the estimated force information acquired when the control target equipment is not contact with other objects;
• set the position information acquired as an input to a neural network and sets a difference between the estimated force information acquired and the force information acquired as a teaching signal for the neural network, and performs learning of the neural network, the neural network being utilized as the linear or nonlinear model,
• wherein the physical model is separate from the linear or nonlinear model.