Toyota Repair: 98 Rav4 Idle Speed - How to adjust?, control component, toyota dealer

Question
Two questions:

My wife has a '98 Rav4 convertible with only 85,000 kms.  It's a fantastic car and runs fabulously but for these two concerns:

#1.  After it's warm, it seems to be idling too slow .  When in D with the brakes on, it idles at about 600rpm which it slow enough to shake the car a bit.  I tried some throttle body cleaner and have changed the spark plugs but still no success.  We took it in (non-Toyota repairer) and they advised that the "idle control component" was working fine and that they think the idle speed is fine (I don't agree).  I've noticed that the battery is getting a little weak and should probably be changed (would this cause slow idling?)

Can and how does one adjust the idle speed?

#2.  On cold start, there is a bit of blue smoke that comes out the tailpipe.  It does this for about 15-20 seconds and then goes away - nothing heavy.  As mentioned, the car runs great so I'm pretty sure that it's nothing major.  It does not smoke at any other times.  The owner's manual seems to indicate that "some" smoke at start-up is "normal".  I regularly check the oil level and it's fine (i.e. not losing oil).  

Is this in fact "normal" and there's nothing more sinister happening?

Thanks

Answer
The idle is not adjustable, it's controleed by the computer and the idle speed control valve, the ISC valve is located on the throttle body, most of the time removing the valve from the throttle body and cleaning it cures any idling problems, also clean out the inside of the throttle body.

The blue smoke on start up is also a common issue, the valve guide seals are leaking, they can be replaced without removing the cylinder head but it's still a fairly expensive operation, about $800 parts and labor at the toyota dealer, maybe more or less, depends on where you live.