Control device, mechanical system, method, and computer program for performing predetermined work by moving plurality of moving machines

A control device configured to move an end effector, which is configured to output a physical element acting on a workpiece, by a plurality of movement machines and perform predetermined work on a workpiece with the element output from the end effector, the control device comprising a processor configured to:

• move the end effector by operating a first movement machine while stopping a second movement machine;
• execute a first adaptive control to increase or decrease an output value, by which the end effector outputs the element to the workpiece for the predetermined work, during continuous output of the element from the end effector, in response to a first operation state data indicating an operation state of the first movement machine, during moving the end effector by the first movement machine;
• move the end effector by operating the second movement machine while stopping the first movement machine, in response to a predetermined command;
• and
• execute a second adaptive control to increase or decrease the output value during continuous output of the element from the end effector, in response to a second operation state data indicating an operation state of the second movement machine, during moving the end effector by the second movement machine.