There are provided a parameter storage part for storing monitor point information, a locus generation part for generating motions of the support, each joint point, and the like based on the movement command, a control point speed control part for obtaining speed of the control point such as the support, each joint point, and the like, a monitor point speed control part for obtaining speed of the monitor point generated from motion speed of the control point, and a motion command part for selecting the maximum speed among the speed of the control point and the speed of the monitor point to compare the maximum speed with the command speed and changing and controlling the speed of the control point to the command speed when the maximum speed exceeds the command speed.