To provide a tracking control device for adjusting the position of an end effector at high speed by reducing delay of operation for a correction value and correction control due to inertia resistance.

A deviation between a teaching path and an actual path is intact used as a correction value to align the position of a welding gun 10 with the actual path, thereby eliminating the complicated processing for adjusting the position of the welding gun 10 to reduce the delay of correction control due to delay of processing (step b11, step b16). Only the welding gun 10 is driven by a driving part 29 to perform correction operation without correcting the whole of an industrial robot 3, whereby the position of the welding gun 10 is adjusted with the minimum inertia resistance, and the delay of correction control due to inertia resistance is reduced.