A position/force controller comprising: a position detection means (S; 50) that detects information relating to a position based on an action of an actuator (S; 40; 40a-40h) by way of a sensor; a function-dependent force/speed distribution conversion means (FT; 20) that, on the basis of speed or position information calculated from the information relating to the position and force information determined by way of acceleration calculated from the information relating to the position and on the basis of information serving as a reference for control and being speed or position information and force information serving as a reference for a function of a control object, performs a conversion from a real space in accordance with a function that is being realized to a virtual space, thereby performing a conversion to distribute control energy to speed or position energy and force energy; a position control amount calculation means (PC; 20) that calculates a speed or position control amount on the basis of the speed or position energy distributed by the function-dependent force/speed distribution conversion means (FT; 20); a force control amount calculation means (FC; 20) that calculates a force control amount on the basis of the force energy distributed by the function-dependent force/speed distribution conversion means (FT; 20); an integration means (IFT; 20) that uses the speed or position control amount and the force control amount as an input and, in order to return a processing result thereof to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount, from the virtual space information to the real space information, and determines an input to the actuator. a function-dependent force/speed distribution conversion means (FT; 20) that, on the basis of speed or position information calculated from the information relating to the position and force information determined by way of acceleration calculated from the information relating to the position and on the basis of information serving as a reference for control and being speed or position information and force information serving as a reference for a function of a control object, performs a conversion from a real space in accordance with a function that is being realized to a virtual space, thereby performing a conversion to distribute control energy to speed or position energy and force energy; a position control amount calculation means (PC; 20) that calculates a speed or position control amount on the basis of the speed or position energy distributed by the function-dependent force/speed distribution conversion means (FT; 20); a force control amount calculation means (FC; 20) that calculates a force control amount on the basis of the force energy distributed by the function-dependent force/speed distribution conversion means (FT; 20); an integration means (IFT; 20) that uses the speed or position control amount and the force control amount as an input and, in order to return a processing result thereof to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount, from the virtual space information to the real space information, and determines an input to the actuator. <EOS>