An apparatus comprising a link actuation device and a control device wherein the conrol device is configured to control the link actuation device, the link actuation device including: a proximal end side link hub; a distal end side link hub; and three or more link mechanisms which each connects the distal end side link hub to the proximal end side link hub such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, wherein each of the link mechanisms includes: a proximal side end link member (11a, 12a, 13a) having one end rotatably connected to the proximal end side link hub; a distal side end link member (11b, 12b, 13b) having one end connected to the distal end side link hub; and an intermediate link member (11c, 12c, 13c) having opposite ends rotatably connected to other ends of the proximal side end link member (11a, 12a, 13a) and the distal side end link member (11b, 12b, 13b), respectively, each of the link mechanisms having such a shape that a geometric model of the link mechanism represented by straight lines shows symmetry between a proximal end side portion thereof and a distal end side portion thereof with respect to a center portion of the intermediate link member (11c, 12c, 13c), two or more link mechanisms among the three or more link mechanisms are each provided with an actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub by causing an arm, forming the proximal side end link member (11a, 12a, 13a), to rotate, and the distal end side link hub has an end effector installed thereon, the control device comprising: a divided section setter configured to divide, into a plurality of sections at a pass point(s), a trajectory from a start point to an end point along which the end effector moves, the trajectory being on a work surface on which the end effector works, the divided section setter being configured to set a position of each pass point; an arm rotation speed calculator configured to calculate a rotation speed at which each arm (11a, 12a, 13a) performs constant speed rotation in each section, on the basis of: a time period of movement in the section which is determined from a distance of the section and a target moving speed which has been designated and is a constant speed; and a rotation-angular movement amount of the arm in the section; and a posture change controller configured to set the rotation speed of the arm (11a, 12a, 13a) in the section to a value of the rotation speed calculated by the arm rotation speed calculator, characterized by the posture change controller being configured to perform positioning control on the actuator corresponding to the arm (11a, 12a, 13a) so as to cause the arm (11a, 12a, 13a) to continuously rotate without acceleration/deceleration in the section. a proximal end side link hub; a distal end side link hub; and three or more link mechanisms which each connects the distal end side link hub to the proximal end side link hub such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, wherein each of the link mechanisms includes: a proximal side end link member (11a, 12a, 13a) having one end rotatably connected to the proximal end side link hub; a distal side end link member (11b, 12b, 13b) having one end connected to the distal end side link hub; and an intermediate link member (11c, 12c, 13c) having opposite ends rotatably connected to other ends of the proximal side end link member (11a, 12a, 13a) and the distal side end link member (11b, 12b, 13b), respectively, each of the link mechanisms having such a shape that a geometric model of the link mechanism represented by straight lines shows symmetry between a proximal end side portion thereof and a distal end side portion thereof with respect to a center portion of the intermediate link member (11c, 12c, 13c), two or more link mechanisms among the three or more link mechanisms are each provided with an actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub by causing an arm, forming the proximal side end link member (11a, 12a, 13a), to rotate, and the distal end side link hub has an end effector installed thereon, a divided section setter configured to divide, into a plurality of sections at a pass point(s), a trajectory from a start point to an end point along which the end effector moves, the trajectory being on a work surface on which the end effector works, the divided section setter being configured to set a position of each pass point; an arm rotation speed calculator configured to calculate a rotation speed at which each arm (11a, 12a, 13a) performs constant speed rotation in each section, on the basis of: a time period of movement in the section which is determined from a distance of the section and a target moving speed which has been designated and is a constant speed; and a rotation-angular movement amount of the arm in the section; and a posture change controller configured to set the rotation speed of the arm (11a, 12a, 13a) in the section to a value of the rotation speed calculated by the arm rotation speed calculator,