To provide a manipulator control method capable of efficiently assembling or arranging an object with high accuracy, when performing work which cannot be directly manually executed, such as manipulation of a fine object under a microscope while using a manipulator.

Concerning the manipulator control method for moving or working a manipulation object, it is calculated how the image of the manipulation object in an ideal state after manipulating work is picked up by an image-pickup device based on a data base recording the state of the manipulation object and the ideal state after the manipulating work, the image picked up with the image-pickup device and an image based on the same calculation are displayed while being overlapped on the same picture, and the manipulator is controlled so as to match the real image and the calculated image.