CONTROL DEVICE AND CONTROL METHOD

PROBLEM TO BE SOLVED: To solve the problem in which: the occurrence of a collision cannot be early detected.SOLUTION: A control device includes: a work program storage section 11 storing a work program in which work content of a manipulator is described for each step; a work content interpretation section 12 outputting a command value for each step corresponding to the work content described in the work program to a servo controller; a threshold storage section 15 storing the step of the work program to be associated with a threshold; an estimation value acquisition section 13 acquiring an estimation value of a motor to be controlled by the output command value; a real value acquisition section 14 acquiring a real value of the motor corresponding to the estimation value; and a collision determination section 18 detecting a collision when a differential value between the estimation value and the real value exceeds the threshold corresponding to the step according to an operation when the operation according to the output command value is executed in the manipulator. Proper thresholds are set to various operations, thereby enabling early collision detection.