PURPOSE:To obtain the force control direction of a face executing a copy action and a position control direction which is horizontal with respect to said direction by giving a speed command toward the position control direction based on the force setting force of a force detection part, the position and the setting position of a position detection part. CONSTITUTION:The position detection part 5 detects a suitable position which is the controlled system 1, which is positioned except for the surface of an object, and an operation part 2 transmits a prescribed manipulated variable to the controlled system 1, which is brought in contact with the surface of the object. When the force detection part 6 detects force which the controlled system 1 has received, and a force control means 4 recognizes contact at that time, the detection part 5 detects the contact position of the controlled system 1 at the time of contact, and outputs a position coordinate. At the time of the copy action, the means 4 gives the speed command toward the force control direction based on force and setting which the detection part 6 has detected and which have been given. A position control means 3 gives the speed command toward the position control direction based on the present position which the position control means has detected and the setting position.
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