PURPOSE: To provide a method and its device for controlling a manipulator whereby operational control of an arm of the manipulator can be performed at a high speed and further in high accuracy.

CONSTITUTION: A device comprises an input device 1 for inputting a target position Xf or the like of a hand point provided in an arm point end part of a manipulator having a wire tension interference driving arm, first arithmetic device 3 for calculating a target position Wf of a wire from the input hand point target position, measuring device 4 for measuring actual displacement W of the wire, second arithmetic device 5 for calculating command tension T1 based on a difference ΔW between the target position Wf and the actual displacement W of the wire, third arithmetic device 6 for calculating correction tension T2 of setting the command tension T1 to a positive value and a correcting device for correcting an elastic elongation amount of the wire. The device is constituted so as to control operation of the arm of the manipulator by giving the correction tension T2 with the command tension T1 to the wire. By this constitution, control of arm operation of the manipulator can be performed at a high speed and in high accuracy.