An elastic deformation compensation control device for an articulated robot, the articulated robot including a motor for driving a plurality of joint shafts of the articulated robot and an arm connected to the motor via a speed reducer that elastically deforms, the device driving the joint shafts to cause a tool attached to the articulated robot to perform a desired operation, the device comprising: a joint angle command value calculation unit configured to calculate a joint angle command value θlc of each of the joint shafts for realizing a desired tool operation and output the joint angle command value θlc; a torque calculation unit configured to calculate a torque fc that is generated when each of the joint shafts operates as instructed by the joint angle command value θlc and that is exerted on the joint shaft from the joint angle command value θlc on the basis of a kinetic model and output the torque fc; a motor angle command value calculation unit configured to calculate a motor angle command value θmc from the joint angle command value θlc and the torque fc on the basis of a parameter of the joint shaft including a rigidity parameter and output the motor angle command value θmc; characterised by a first dynamic characteristic computing unit having a high-frequency cutoff characteristic including a cutoff frequency that is lower than the natural vibration frequency of the robot, the first dynamic characteristic computing unit performing a filtering process on the motor angle command value θmc and outputting the motor angle target value θmd subjected to the filtering process; a second dynamic characteristic computing unit configured to perform a filtering process on at least one of an input to the torque calculation unit and the output from the torque calculation unit, and configured to output an torque compensation value fd, a motor angle control unit configured to receive the motor angle target value θmd as a target value for the motor; and a motor current control unit configured to receive, as a target value, a value obtained by adding the torque compensation value fd to a motor torque command value output from the motor angle control unit, wherein the first dynamic characteristic computing unit comprises an interpolation unit configured by Nth-degree curve interpolation and a filter unit configured by an Mth-order filter, and (N + M) is set to a value greater than or equal to 4. a joint angle command value calculation unit configured to calculate a joint angle command value θlc of each of the joint shafts for realizing a desired tool operation and output the joint angle command value θlc; a torque calculation unit configured to calculate a torque fc that is generated when each of the joint shafts operates as instructed by the joint angle command value θlc and that is exerted on the joint shaft from the joint angle command value θlc on the basis of a kinetic model and output the torque fc; a motor angle command value calculation unit configured to calculate a motor angle command value θmc from the joint angle command value θlc and the torque fc on the basis of a parameter of the joint shaft including a rigidity parameter and output the motor angle command value θmc; characterised by a first dynamic characteristic computing unit having a high-frequency cutoff characteristic including a cutoff frequency that is lower than the natural vibration frequency of the robot, the first dynamic characteristic computing unit performing a filtering process on the motor angle command value θmc and outputting the motor angle target value θmd subjected to the filtering process; a second dynamic characteristic computing unit configured to perform a filtering process on at least one of an input to the torque calculation unit and the output from the torque calculation unit, and configured to output an torque compensation value fd, a motor angle control unit configured to receive the motor angle target value θmd as a target value for the motor; and a motor current control unit configured to receive, as a target value, a value obtained by adding the torque compensation value fd to a motor torque command value output from the motor angle control unit, wherein the first dynamic characteristic computing unit comprises an interpolation unit configured by Nth-degree curve interpolation and a filter unit configured by an Mth-order filter, and (N + M) is set to a value greater than or equal to 4.