Abstract: This control device includes a control unit which performs mass measurement or force control using a torque sensor that detects a torque acting on a link in a machine; and a torque sensor adjustment unit for adjusting the torque sensor by using an external instrument or by using internal data or external data.

Abstract: A coupling device according to an embodiment is a coupling device for connecting a first shaft and a second shaft that includes a primary inner ring member mounted on the first shaft, a primary outer ring member disposed on an outer circumferential side of the primary inner ring member, a primary elastic member for connecting the primary inner ring member and the primary outer ring member, a secondary inner ring member mounted on the second shaft, a secondary outer ring member disposed on an outer circumferential side of the secondary inner ring member, a secondary elastic member for connecting the secondary inner ring member and the secondary outer ring member, and a weight attaching plate interposed between the primary outer ring member and the secondary outer ring member, the weight attaching plate including a weight attaching portion capable of attaching and detaching an additional weight to and from the outer circumferential side of the primary outer ring member and the outer circumferential side of the