Control apparatus, control method, and program

A control method comprising:

• by an operation executed by a processor in accordance with a program,
• generating, on a basis of first sampling data with a detected value from a rotation angle sensor that detects a rotation angle of a joint section recorded with a first period, second sampling data with the rotation angle recorded with a second period longer than the first period,
• wherein:
• the processor includes a rotational driving section provided in a joint section included in a machine or an apparatus, and
• the operation further includes:
• transmitting the second sampling data to an arithmetic apparatus in the machine or the apparatus with the second period, and
• switching between a first operation mode in which the first sampling data is generated by sampling a detected value from the rotation angle sensor with the first period and in which the second sampling data is generated on a basis of the first sampling data and a second operation mode in which the second sampling data is generated by sampling the detected value from the rotation angle sensor with the second period.

A control apparatus comprising:

• a processor that executes an operation in accordance with a program, wherein the operation includes generating, on a basis of first sampling data with a detected value from a rotation angle sensor that detects a rotation angle of a joint section recorded with a first period, second sampling data with the rotation angle recorded with a second period longer than the first period,
• wherein:
• the control apparatus is an arithmetic apparatus in a machine or an apparatus,
• the operation includes receiving a series of the first sampling data from a processing circuit with the second period, the processing circuit being included in a rotational driving section provided in the joint section included in the machine or the apparatus,
• the generating the second sampling data includes calculating the value of the rotation angle in one piece of the second sampling data from the values of the rotation angle in the series of the first sampling data, and
• the operation further includes switching between a first operation mode in which the second sampling data is generated from the series of the first sampling data received from the processing circuit and a second operation mode in which the value of the rotation angle received from the processing circuit with the second period is utilized as the second sampling data.