PURPOSE: To easily and efficiently suppress the vibration of a robot arm. etc., by utilizing a neural network.

CONSTITUTION: After the neural network 11 of a forward system which outputs the acceleration estimated value of the tip part of the robot arm learns dynamic characteristics of the robot arm tip part. a robot arm driving motor 15 is brought under driving control while allowing the neural network 12 of a backward system to learn which finds a correction value ΔVN(t) for a speed command V00(t) to the robot arm driving motor 15 so that an acceleration estimated value αa(t) of the arm tip part found by the neural network 11 of the forward system reaches an acceleration command α00(t) of the arm tip part.