CONTROL DEVICE

A controller that calculates an operation quantity of an actuator to move a mover includes: a setter that sets an instruction value to move the mover to a target position; a restrictor that sets a constraint condition of an instruction value for avoidance of an obstacle; a corrector that corrects the instruction value to fall within a restricted range defined by the constraint condition if the instruction value is out of the restricted range; and an operation quantity calculator that calculates the operation quantity based on the instruction value.