Control device, control method, and recording medium

A control device for synchronizing and controlling a master device and a slave device at a fixed period when the number of axes of the master device differs from the number of axes of the slave device, the control device comprising:

• a computing unit which obtains a command value for each axis of the slave device through computation at the fixed period based on a command value for each axis or a measured current value of each axis of the master device,
• wherein the computing unit comprises:
• a coordinate transformation unit which performs coordinate transformation from a coordinate system of the master device into a coordinate system of the slave device for the command value for each axis or the measured current value of each axis of the master device at the fixed period;
• and
• a synchronization computing unit which performs synchronization computation for maintaining the position of the master device and the position of the slave device in a predetermined corresponding relation for coordinate transformation result values obtained through the coordinate transformation.