Control device and alignment device

A control device that is capable of controlling a moving device of an alignment device,

• the alignment device including:
• a holding device capable of holding an object;
• the moving device capable of moving the holding device to move the object to a target position;
• a position sensor that calculates a relative position of the holding device with respect to a position when the object moves to the target position;
• and
• a visual sensor that is arranged to be able to simultaneously image the object and the target position when the object is moved to the target position by the moving device, the visual sensor being capable of repeatedly calculating a relative position of the object with respect to the target position from a captured image,
• the control device comprising:
• a first statistical processing unit that acquires a plurality of relative positions of the object calculated by the visual sensor and performs statistical processing on the acquired relative positions of the object;
• a second statistical processing unit that acquires, from the position sensor, a plurality of relative positions of the holding device corresponding to each of the relative positions of the object calculated by the visual sensor, and performs statistical processing on the acquired relative positions of the holding device;
• and
• a movement control unit that performs feedback control of the moving device based on the relative positions of the object statistically processed by the first statistical processing unit and the relative positions of the holding device statistically processed by the second statistical processing unit, and performs alignment of the object with the target position while moving the object closer to the target position.