Control device, industrial machine, and control method

A control device of a machine having a jig which supports a workpiece and a tool which machines the workpiece, the control device comprising:

• a relative displacement specification unit configured to specify a relative displacement between the jig and the tool based on measurement values of displacements of the jig and the tool;
• a position determination unit configured to determine whether the jig and the tool are respectively positioned at a jig calibration point and a tool calibration point based on the measurement values of the displacements of the jig and the tool;
• a displacement correction unit configured to correct the measurement values of the displacements of the jig and the tool based on a captured image of the jig calibration point and a captured image of the tool calibration point when the jig and the tool are determined as being respectively positioned at the jig calibration point and the tool calibration point;
• a contact determination unit configured to determine whether the tool has come into contact with the workpiece based on a measurement value related to a deflection of the tool;
• a tool length correction unit configured to correct tool length data indicating a length of the tool based on the relative displacement when the tool is determined to have come into contact with the workpiece;
• and
• a control unit configured to generate a control command for controlling the jig or the tool based on the relative displacement, a shape of the workpiece, and the tool length data.