JPH03214303A - Positioning controller and track data teaching method - Google Patents

Abstract

PURPOSE:To facilitate the teaching work by selecting position control, force control and compliance control by a communication from a control part. CONSTITUTION:A servomotor control part 100 becomes an operable state by force control and compliance control by an operation mode selecting command from a control part 200, and subsequently, moves to a prescribed position in a state that an actual work is held, and is positioned by pressing its work and a hand against other work, a positioning jig, etc., and pressing the work by force of designated magnitude in a force control state, and executing an operation which follows like a spring to an objecting a compliance control state. In such a state, other control is moved, its position data is registered in the control part 200 at a certain prescribed interval, and also, its position data is connected automatically, and a suitable offset quantity is added in the pressing direction, by which track data is generated. In such a way, a worker can execute a track data teaching work by a simple operation.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention is directed to teaching trajectory data by a positioning control device, in which workpieces and jigs may interfere with and damage the trajectory as the mechanical device moves. The present invention relates to a positioning control and trajectory data teaching method for easily and automatically registering data.

[Conventional technology]

A typical conventional positioning control device will be explained based on FIG. 9. Generally, the servo motor control section 1 of such a positioning device has a configuration as shown in FIG. The respective control units 15, 16, 17 work so that the deviations between the feedback data 12, 11, 16 and the respective command values 8, 14, 10 with respect to them become 0, and disturbances, frictional forces, etc. act. Also, in a stationary state, the control is performed so that no position error occurs. However, this characteristic becomes a major hindrance when operations such as teaching work or assembly work require contact between the drive shaft of the servo motor and a workpiece.

Next, a method for teaching trajectory data will be described using a robot configured by a conventional servo motor control section 1 as an example.

FIG. 11 shows the appearance of an industrial robot used for teaching work. Teaching is performed in the environment shown in FIG.

The robot operates by moving a workpiece 27 held by a hand 26.
, move it according to the arrow in the order of points A, B, C, D, E, open the hand 26 at point E, and move the workpiece 2.
7 will be assembled. In this operation, the first space 62 of the first block 60 and the first block 60 are
The hand 26 and the workpiece 27 are required to move between the second space 660 sandwiched between the second block 31 and the second block 31 without interfering with other objects.

The procedure of the teaching operation is as shown in FIG. , the manual operation movement keys (referred to as the operation section). Next, while visually checking that the hand 26 and workpiece 27 do not interfere with the flocks 60 and 61, move the hand 26 and workpiece 27 to point B1 using the manual operation movement key, and use the registration key on the operation section 28 to move the control section 2 (FIG. 9, 1o) as position data. These series of operations are repeated in the order of points c1, DI, and El. After registering the position data, the next step is to specify the trajectory for movement between each point. To prevent interference accidents during movement between points, interpolation control is performed using the operation unit 28 so that the control axes that make up each joint of the robot pass through a straight line, arc, or other path between consecutive points. Specify. In this way, trajectory data is taught, and during automatic operation that operates according to commands from the program, the route connecting these consecutive points is created by hand 2.
6 The center moves.

[Problem to be solved by the invention]

In fact, when teaching the robot's position data and trajectory data, in the environment shown in Figure 6, the workpiece, hand, or the mechanical device itself may be damaged due to contact between the mechanical device and the workpiece or hand. Sometimes. Also,
The servo motor control unit detects an overload and the teaching work itself is interrupted. Many cases like this occur when teaching position data and trajectory data.Furthermore, as mentioned above, after manually operating each control axis and registering each position data, Because the procedure for specifying is required, the teaching work is long (・time consuming), and the visual confirmation work is a large labor burden for the worker.In addition, the visual confirmation work lacks accuracy. , the reliability of position data and trajectory data obtained by teaching is also low.

Therefore, the purpose of the present invention is to solve the problem of teaching position data and trajectory data in which a workpiece, a hand, or a hand must move while avoiding interference with other workpieces or mechanical devices. without being damaged,
Another object of the present invention is to provide a positioning control device and a trajectory data teaching method that can easily perform accurate teaching work in a short time.

[Means and effects for solving the problems] The positioning control device according to the present invention can perform position commands, force commands, operation mode selection commands, registration of compliance constants and position data, generation and control of trajectory data for each control axis, etc. A servo motor control unit that can operate by selecting any of the following operating modes: position control, force control, and compliance control, depending on the control unit and communication from the control unit.
This allows data such as position, speed, force, and various constants to be exchanged between the control section and the servo motor control section.

When teaching position data and trajectory data using this positioning control device, the operation mode selection command from the servo motor control unit or control unit enables operation with force control or compliance control, and then the actual workpiece is While holding the workpiece, move it to a predetermined position and press the workpiece or node against another workpiece or positioning jig, etc., and press the workpiece with a specified force in the force control state, or perform compliance control. Positioning is performed by performing a spring-like motion following the object in a controlled state. In this state, move the other control axes, register their position data in the control unit at certain intervals, and then automatically connect the position data and add an appropriate amount of offset in the pressing direction to create a trajectory. Generate data. This series of trajectory data teaching work is
The operator can perform this with a simple operation, and the taught position data is automatically linked by the control unit to generate trajectory data.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

<Embodiment of Positioning Control Device> (First Embodiment) The positioning control device has an outline shown in FIG. 9, and has the same shape as the conventional one.

However, since there are differences in the contents of the control section 2 and the servo motor control section 1, explanation will be given based on FIG. 1. FIG. 1 shows functional blocks of a servo motor control section 100 as a control section in a positioning device according to the present invention, and each block has a digital configuration. The feature of this servo motor control section 100 is that the control section 200
It is possible to select any of the operation modes of position control, force control, and compliance control by communicating with the control unit 1 (the first
0), the force model generating section 101, the compliance model generating section 106, the external force estimating section 104, the first
, second and third mode changeover switches 124 and 102
, 105, and functions such as feedback of the estimated external force value 106 are added. The functions and operations of each block are as follows:
First, mode selection command 10 from control unit 200
7, the first, second, and third mode changeover switches 124, 102, and 105 are switched to select position control, force control, and compliance control. When force control is selected, the force command 125 from the control unit is converted into a speed command 126 by the model generator 101 until an external force (for example, the tip of the hand contacts another object and receives a restraining force) is applied. Transform and move at a constant speed in a specified direction. When an object comes into contact with an external force, the direction of the speed feedback data 111 changes, and this data and torque command value 110 are sent to the external force estimating section 104, and an external force estimated value 106 is calculated. Next, the deviation between the external force estimate 106 and the force command 125 is calculated, and the deviation is sent to the force model generator 101.
Force/velocity conversion is performed and speed command 1 is sent to the speed limiter 116.
Sent as a value of 26. At this time, the value of the force command 125 is input in advance to the control unit from the operation unit 28 (
・As a result, the model generation part 10
For example, when the tip of the hand comes into contact with another object, the hand remains stationary while maintaining the value of the force command 125 due to the speed command 126 generated in step 1. At this time, even if the contact object is displaced and the balance of forces is disrupted, a new speed command 126 is generated by feedback from the external force estimation unit 104, and the value of the force command 125 is maintained. controlled.

Next, when compliance control is selected, the position is controlled using the position command value 108 from the control unit 200 until an external force (for example, a state in which the tip of the hand contacts another object and receives a restraining force) is applied. When the robot moves and an external force is applied, the compliance model generating unit 103 generates a trajectory at a position that satisfies the specified softness and force, based on the external force.
Generate with .

This value is then fed back to the position control section 115. In this case, the softness can be specified in advance using the operating section 28.
As a result, the position data generated by the compliance model generator 1[ ] 3 is input to the control unit 200 as a compliance constant 109. It is also possible to perform positioning by performing a soft following motion like a spring.Furthermore, external force estimation (vl
1 0 6 is fed back to the control section 200, and the control section 200 calculates this external force estimated value 106.
can be monitored.

In addition, when position control is selected, the position, speed, and current feedback data 11
2, 111, 116, and the position, speed, and current control units 115, 116, 1 so that the deviations between the position, speed, and current commands 108, 114, and 110 are O.
17, and even if external force, frictional force, etc. are applied, positioning should be performed so that no position error occurs in a stationary state.

Next, the configuration of the control unit 200 that generates trajectory data based on the position feedback data 112 from the servo motor control unit 100 will be described.

FIG. 4 shows the storage unit 20 of the control unit 200 in FIG.
6 represents a part of the file contents. here,
The contents of the files in the storage unit 206 will be briefly described.

The application program file 50 is a file of a program (generally written by an operator) that executes operation commands for each axis and I/O operation commands. The first and second control condition files 51 and 52 are data files that determine under what control conditions each axis should operate in response to an operation command.

In the first control condition file 51, the angular velocity, angular acceleration, etc. of each axis of motion (FTP motion) in which path control is not executed are registered.

In the second control condition file 52, the velocity, acceleration, etc. of the motion (CP motion) for executing route control relative to the trajectory of the node 26 center are registered.

The parameter file 53 includes the offset value of the position data (after teaching with contact, a trajectory must be generated with the offset value taken into account to avoid interference accidents during automatic operation), and the value of the force command 125. , compliance constant 109, etc.

Here, the offset value will be explained in more detail based on FIG. 7. A teaching method using this positioning control device (well, let the robot execute a teaching operation that involves contact) will be described later, but during automatic operation (a state in which the robot moves by executing an application program), the workpiece 27 is 1
The trajectory data must be generated so as to pass through the center trajectory of the first space 62 so as not to interfere with the block 30 of the first space 62 . Therefore, in this case, an offset value that does not interfere with the slope of the first front lock 60 in the Z direction is registered in advance, and at the time of generating trajectory data, trajectory data is generated that takes this offset value into consideration. The calculation part should be configured like this.

The position data file 54 is a file in which position data of FTP motions is registered, and each position data is registered independently one by one.

The trajectory data file 55 is a file used for teaching work using this positioning and restraining device, which will be described later.The trajectory of the CP motion that performs path control is plotted in time series, and each position data is plotted as a data string. This is a registered file. In the above-mentioned teaching work, the position data taken in every sampling period during the movement from A3 to E3 is automatically registered in this orbit data file as a data string.

The registered position data string is converted into trajectory data by the trajectory generation section 208 (FIG. 1) of the control section 200. FIG. 5 shows the trajectory generating section 2 of the control section 200.
08 processing flow is shown. In order to execute this flow, first, the automatic operation key 66 of the operation section 28 is pressed to put the control section 200 into an automatic operation mode. Next, one of the application programs in the application program file 50 is executed,
A route control operation command is issued. When these conditions are met, the processing flow of this trajectory data generation section will be executed. The processing flow of this trajectory generation section will be explained.

: Proceed to the next step according to the route control operation command.

At this time, for operations other than route control operation commands, proceed to the flow on the left for processing.

: Read control condition data (velocity, acceleration, etc.) for the trajectory centered on the 7th node 26 from the second control condition file 52.

: Read the offset value from the parameter file 56.

The first data and second data of the data string are read from the two-orbit data file 55.

: First, the two pieces of position data read in S4 are connected by a straight line, taking into account the offset value read in 83. Next, S
Based on the control condition data read in step 2, a position data string is generated on the straight line at a cycle greater than the interval of operation commands from the control section 200 to the servo motor control section 100.

:Based on the position data string generated in step 85, it is converted into a position command data string for each axis.

S7: The position command data string generated at 36 is sent to the servo motor control unit 100 of each axis as a position command value.

S8: Check whether the position data read in S4 is the last data in the data string from the orbit data file. Here, data (S 1
Since the data processed by branching to the left processing flow only has data for the start and end points, it should be processed as the last position data in this step.

S9: If it is not the last position data, return to S4 again, read the next two position data, and proceed from S5 to 8.
Perform step 8.

The process ends when the last position data is reached at step 310:38.

By configuring the surfomotor control section 100 and the control section 200 in this manner, it becomes possible to carry out the trajectory data teaching method described later.

(Second Embodiment) Similar functions can also be achieved using the positioning control device shown in FIG. This positioning control device is
External force estimation unit 1 of the servo motor control unit 100 shown in FIG.
Instead of 04, it is possible to have the same function as the servo motor control section 100 by using the data of a servo sensor 127 attached to a mechanical device (for example, the tip of a robot arm). Embodiment> (First Embodiment) Next, as a mechanical device constituted by the above-mentioned positioning control device 29, RoboNoto shown in FIG. 11 is taken as an example.
The teaching method proposed by the present invention will be explained. In the teaching method proposed in the present invention, as shown in FIG.
It is effective for teaching in an environment where positioning is performed while avoiding 1), and in the teaching example shown in Fig. 6,
The operator can perform the following steps.

In addition to FIG. 6, FIG. 1, FIG. 3, and FIG. 7 will be used in the explanation.

■Press the teaching mode key 37 to make the positioning device ready for teaching.

■ Press the jog feed key 68 or the inch feed key 69 to enable positioning using position control. At this time, the control section 200 gives a command 10 for selecting a mode.
7, the first mode switching switch 124 of the servo motor control unit 100 is in the ON state, the second and third mode switching switches 102 and 105 are in the OFF state, and the force model generating unit 101 and the compliance model generating unit 1 are in the OFF state.
The loop constituted by 03 no longer works.

- Then, as in the prior art, after selecting the coordinate system using the xy coordinate keys 43 or the joint coordinate keys 44,
y, z, C keys 46, 47, 48, 49, respectively
) to move the main shaft 25 at low speed,
In this embodiment, the center of the main axis 25 in xy coordinates, 2@
Visually confirm that the axial center of the workpiece 27 in the direction corresponds to the position of point A1 in FIG. At this point,
The workpiece 27 is located at point A in the first space 32, and
It is not in contact with the block 60.

■ With the positioning at point A1, press the force control key 40 of the operation unit 28 to control the Z-axis servo motor control unit 1.
Switch 00 to force control mode.

At this time, the first and third mode switching switches 124 and 105 of the servo motor control unit 100 are turned OFF and the second mode switching switch 102 is turned ON by the control unit 200 mode selection command, and the position control loop , the compliance control loop ceases to function and only the force control loop functions.

0 After shifting to force control, the value of the force command 125 from the control section 200 is input to the force model generating section 101, and is converted into a speed command 126 according to the value of the force command 125.

The first shift of the force command 125 must be entered in advance using the numeric keypad (not shown) of the operation section 28.The speed command 126 from the force model generation section 101 is
In a state where no external force is applied, the speed is proportional to the value of the force command 125, but the speed is limited to low speed to prevent shock upon contact. Based on this speed command 126, the processing after the speed control section 116 is performed, and finally the servo motor 120 is rotated at a low speed in the designated direction. The direction of rotation of the servo motor must also be input in advance using a numeric keypad (not shown) on the operation unit 28.

(2) FIG. 7 shows the relationship between the workpiece 27 and the first block 30 and the movement path of the workpiece 27 during teaching. The workpiece 27, which was positioned at point A, is moved by speed command 1.
26, the workpiece 27 moves downward from point A at low speed and is positioned at point A2 where the workpiece 27 and the first prong 60 come into contact and are pressed with a specified force.

When the workpiece 27 and the first block 30 come into contact, the value of the speed feedback 111 of the servo motor control section 100 changes due to this influence. The changed value of the speed feedback 111 and the torque command 110 are sent to the external force estimating section 104 to calculate the external force estimation [direction 106].The external force estimated value 106 is compared with the value of the force command 125. , this deviation is sent to the force model generator 101, and the value of the speed command 126 is calculated.The movement of the servo motor 120, which is controlled by this speed command 126, appears as a force on the contact surface.External force estimation direct 106 When the value of the force command 125 matches and the deviation becomes 0, the speed command 126 also becomes O.
Therefore, the workpiece 27 is positioned and stands still while being pressed against the first block 30 by the force of the force command 125.

■ Hook 27 that is being held down at point A2,
By pressing the movement keys 46, 47, 48, and 49 for each axis of the operation unit 28, A2, B2, C2, D2, and E2 are moved in the order of A2, B2, C2, D2, and E2 while being in contact with the slope of the first block 60, and Teach data. First, with the workpiece 27 at point 2, the registration key 45 of the operation section 28 is pressed. Then, the point A3 of the position data of the center of the hand 26 for positioning the workpiece 27 at this point A2 is registered in the storage section inside the control section 200. Next, press the jog feed key 38 or the inch feed key 39, and move each axis of X, Y, C to A3, B3, C3, D3,
Although the workpiece 27 is moved in the order of E3, since the Z direction is under force control, the workpiece 27 and the first block 60 remain in contact with each other. At this time, the control section 200 sequentially registers the value of the position feedback 112 of each axis at that time in the storage section as position data at a sampling period specified according to the movement of each axis. In the memory section, point A3
The position data for the sampling period interval from to E3 is
Automatically stored in chronological order. The sampling period must be input in advance using the numeric keypad (not shown) of the operation unit 28. Furthermore, depending on the operation method, the amount of position data may become enormous, so the sampling timer is designed to work in conjunction with the movement of each axis.

(2) The position data string stored in the trajectory data file 55 of the storage section is converted into trajectory data according to the processing flow of the trajectory data generation section described above.

0 By performing the teaching work in the steps from ① to ②, trajectory data will be automatically generated using force control.

(Second Embodiment) So far, a teaching method using force control has been described, and now a teaching method using compliance control will be described using the teaching example shown in FIG. 6, similar to the force control. The key difference between teaching methods using force control and compliance control is that force control allows the object to be held down with a constant force even if the contact surface is displaced. However, compliance control involves suppressing the displacement of the contact surface with a force proportional to the displacement. Generally speaking, methods that utilize force control are more advantageous from the standpoint of protecting the workpiece, etc.

The teaching example shown in FIG. 6 is applied to teaching in the height direction (value of 2), and the operator can perform the following steps.

(2) Press the teaching mode key 67 on the operation unit 28 to put the positioning device in a teaching-enabled state.

Next, the jog feed key 68 or the inching feed key 39 is pressed to enable positioning by position control.

At this time, mode selection command 1 from control unit 200
07, the first mode changeover switch 124 of the servo motor control unit 100 is in the ON state, the second and third mode changeover switches 102 and 105 are in the OFF state,
The loop formed by the compliance model generator 101 and the compliance model generator 106 stops working.

■ Similar to the prior art, after selecting the coordinate system using the xy coordinate keys 46 or the joint coordinate keys 44,
Using the keys 46, 47, 48, and 49 of C, move the main shaft 25 at low speed, and visually confirm that the center of the hand 26 coincides with the position of point A1 in FIG. 7. 'At this point, the workpiece 27 is in the first space 600 point A and is not in contact with the first flock 60.' In the conventional teaching method, at this point, the registration key of the operation unit 28 is pressed, the value of the position feedback 12 of each axis is read, and the position data of each x1y, z, c is registered in the position data file. However, here, in order to apply the teaching work in two directions using the compliance control proposed by the present invention, the following work is performed.

■ With point AI vertically centered, press the compliance control key 41 on the operation unit 28 to switch from position control to compliance control.

At this time, mode selection command 1 from the control unit 200
07, the first and third mode changeover switches 124 and 105 of the servo motor control 1100 are turned ON, and the second mode changeover switch 102 is turned OFF, and the loop purchased by the compliance/smodel generation unit 106 is in an operable state. become. The compliance constant 109 is previously input into the control section 200 using a numeric keypad (not shown) of the operation section 28.

The value of the compliance constant 109 is sent from the control unit 200 to the compliance model generation unit 106 of the servo motor control unit 100, and by combining it with the external force estimated value 106 from the external force estimator 104, the compliance model generation unit 103 is in a state ready for calculation. become.

(2) With the center of the hand 26 positioned at point A1, press the two-way down key (left of 48) to lower the workpiece 27 from point A to point A3 where it contacts the first block 60.

The magnitude of external force due to contact is determined by speed feedback 111
Based on the first shift and the value of the torque command 110, the external force estimation unit 10
4, the compliance model generator 103
and is sent to the control section 200.

0 The compliance model generation unit 106 generates position data that satisfies the specified softness and force values using the compliance constant 109 and the external force estimate 106,
A position command is fed to the position control unit 115. As a result, the tip of the hand 26 performs a soft tracing motion like a spring (and positions the work 27 and the first block 60 while pressing it with a certain force).

■ The control unit 200 monitors the estimated external force value 106 sent from the external force estimator 104 due to the contact between the workpiece 27 and the first block 60, and when it reaches the preset upper limit of the estimated external force value. , remain stationary.

■ Workpiece 27 held down at point A2,
Press the keys on the operation unit 28 to select A2, B2, C2, D2,
Around E2, the first block 60 is moved while being in contact with the slope, and the trajectory data is taught. First, when the registration key 45 of the operation unit 28 is pressed with the workpiece 27 at point A2, point A3, which is the position data of the center of the hand 26 for positioning the workpiece 27 at point A2, is displayed inside the control unit 200. Register it as the first location data in the recording department. Next, jog feed key 6
8 or press the inching feed key 69 to
, C using the respective movement keys 46, 47, 48,
At step 49, move to A3, B3, C3, D3, and E3 in this order. Since the Z direction is under compliance control, work 2
7 and the first flock 30 are in contact with each other in a state where they are pressed by a spring. In FIG. 7, when the center of the hand 26 moves from A3 to 03, the center of the hand 26 is pushed upward in the Z direction along the slope of the first block 30. At this time, the contact surface receives a force proportional to the displacement in the Z direction. The control unit 200 records the position data of the position feedback 112 of each axis at a designated sampling period in accordance with the movement of each axis, and registers it in the trajectory data file 55. The trajectory data file 55 automatically stores fi position data at sampling period intervals from points A3 to E3 in chronological order. The sampling period is set in advance.
Using the numeric keypad (not shown) on the operation unit 28,
Must be entered.

The following operating procedure and the accompanying functions of the control section 200 and the servo motor control section 100 are similar to the teaching work using force control. By taking such a procedure, trajectory data can be automatically generated using compliance control.

(Third Example) Furthermore, as an application example, teaching work under the teaching environment shown in FIG. 8 will be described. Looking at the third block 56 in FIG. 8, the contact surface for use in the teaching operation is stepped. In this case, in the teaching method described above, the work 27
It is not possible to carry out teaching work with the third block 56 in contact with the
7 to perform teaching work. Workpiece 2 of copying jig 57
7 is desirably in contact with a shape that allows the workpiece 27 to trace a trajectory through the center of the third space 58 without interference. In this case, the offset value may be zero.

By using this copying jig 57 and performing the same procedure as the teaching work described above, the same effect can be obtained.

Although the embodiments according to the present invention have been described above, it is better to use force control in the teaching method according to the present invention. Therefore, it is possible to achieve the objective even if the control section does not include a compliance model generation section.

〔Effect of the invention〕

As described above, the present invention uses force control and compliance control to automate the task of teaching trajectory data, which until now relied on visual confirmation and manual operation by workers, thereby reducing the labor burden on workers. or reduce working time. Furthermore, by taking advantage of the fact that the softness and force can be set, it is possible to not only prevent damage to workpieces and mechanical equipment due to manual operation errors, but also to register accurate trajectory data.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the positioning control device according to the present invention, FIG. 2 is a block diagram showing a second embodiment of the positioning control device according to the present invention, and FIG. 3 is a teaching operation unit. FIG. 4 is a diagram showing the contents of the storage section of the control section, FIG. 5 is a processing flow diagram of the trajectory generation section of the control section, and FIG. 6 is a diagram showing the contents of the storage section of the control section. FIG. 7 is a diagram showing the positional relationship of the workpiece and hand and the movement path during teaching, and FIG. 8 is a diagram showing the teaching method using the copying jig according to the present invention. It represents an application example. FIG. 9 is a diagram showing the functions of a general positioning device, FIG. 10 is a diagram showing the functions of a servo motor control section that is composed only of conventional position control functions, and FIG. 11 is a diagram showing the functions of a conventional positioning device. This is an external view of the robot used for the work. 100... Servo motor control section, 101...
... Compliance model generation section, 106 ... Compliance model generation section, 2
00...control unit, 206...storage unit, 208...trajectory generation unit. Figure 3 4k record Figure 6 Figure 7 Figure 8 @ ■ Figure 9

Claims (4)

[Claims] (1) Positioning having a control section including a CPU, and a control section that performs positioning control of a controlled object based on commands sent from the control section and sends position data of the controlled object to the control section. In the control device, the control unit includes a storage unit that stores data such as a program and position data, and a trajectory generation unit that generates a trajectory based on the position data, and the control unit includes a storage unit that stores data such as programs and position data, and a trajectory generation unit that generates a trajectory based on the position data. a force model generating section that sends out a speed command based on the deviation between the external force exerted on the motor and the force command sent out from the control section; and a force model generating section that sends out a speed command based on the deviation between the external force exerted on the motor and the force command sent out from the control section, and a position amount based on the compliance constant sent out from the control section and the external force and feedback. A positioning control device comprising: a compliance model generating section that generates a compliance model. (2) A control section including a CPU, and a control section that performs positioning control of a controlled object based on commands sent from the control section, and sends position data of the controlled object to the control section. In the positioning control device, the control unit includes a storage unit that stores data such as a program and position data, and a trajectory generation unit that generates a trajectory based on the position data, and the control unit includes A positioning control device comprising: a force model generating section that sends a speed command based on a deviation between an external force acting on a body and a force command sent from the control section. (3) In a mechanical device such as an xy table or a robot equipped with the positioning control device according to claim 1, the controlled object of the mechanical device is moved to a predetermined position, and The work to be controlled is brought into contact with another work or a copying jig, one positioning axis is enabled for force control or compliance control, and the other positioning axis is used to move the controlled object in the direction to be taught. , a trajectory data teaching method characterized in that position data of the controlled object is registered in a storage unit of a control unit in chronological order at a constant cycle for each positioning axis, and a trajectory is generated based on the position data. . (4) In a mechanical device such as an xy table or a robot equipped with the positioning control device according to claim 2, the controlled object of the mechanical device is moved to a predetermined position, and The work to be controlled is brought into contact with another work or a copying jig, one positioning axis is enabled for force control, and the other positioning axes are used to move the controlled object in the direction to be taught, and each positioning A method for teaching trajectory data, characterized in that position data of the controlled object is registered in a storage section of a control section in chronological order at regular intervals for each axis, and a trajectory is generated based on the position data.