PURPOSE: To increase a control performance by equipping a positioning control device that the control device of each axis is independent respectively and a stable reverse system device estimating the disturbance impressed on a robot manipulator, a nonlinear torque and an interference torque by using the information of between sampling points.

CONSTITUTION: A positioning control device 9 performs the positioning control of the motor 15 fitted to each link 17. Moreover, in a stable reverse system device 18 disturbance is estimated and this estimated value is fed back to the input of a power amplifier 10 so as to suppress the disturbance. A disturbance suppression control device 19 is composed of this positioning control device 9 and stable reverse system device 18. Also the disturbance suppression control device 19 is composed independently respectively for each axial motor 15 of a robot manipulator.