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Aiming at the problem that it is difficult to control the position and attitude angle synchronously in the position and orientation positioning process of industrial teleoperation robot, which leads to the poor accuracy of position and orientation positioning, the position and orientation positioning control system of industrial teleoperation robot is optimized and designed from both hardware and software by using big data clustering technology. Through the modification of the position and attitude sensor, it is ensured that the sensor equipment can measure the position and attitude of the robot at the same time, and the positioning controller and driver are modified. With the support of the system hardware, considering the composition and structure of the robot, the principle of motion and the theory of dynamics, the mathematical model of the robot is constructed. Under this model, the teleoperation process of the robot is simulated, and the positioning control target of the robot's posture is determined. Real-time collection of robot pose data, use of big data clustering technology to calculate the positioning control amount, under the constraints of the controller, realize the positioning control function of the system. Through the system test experiment, it is concluded that under the control of the optimized design system, the average position error of the robot is 4.5 mm and the attitude angle control error is 0.04 °.