A motion prediction control device (10, 110, 210), comprising: a measuring unit (12, 112, 212) which acquires sensor information of a plurality of robots (2, 101, 202) by measuring the plurality of robots (2, 101, 202); a state estimation unit (14, 114, 214) which predicts and updates internal states of the plurality of robots (2, 101, 202) on the basis of the sensor information; a data storage unit (16, 116, 216) which stores the internal states updated by the state estimation unit (14, 114, 214); and a plurality of robot control units (20, 120, 220) which controls the plurality of robots (2, 101, 202), respectively, wherein the measuring unit (12, 112, 212) acquires the sensor information of the plurality of robots (2, 101, 202) at arbitrary timings that are independent of control cycles of the plurality of robots (2, 101, 202), at arbitrary timings that are independent of control cycles of the plurality of robots (2, 101, 202), the state estimation unit (14, 114, 214) predicts the internal state of each robot at the same time as the time when the sensor information is acquired, and compares the predicted internal state with the sensor information of each robot to update the internal states of the plurality of robots (2, 101, 202), the data storage unit (16, 116, 216) transfers, at timings that are independent of requests from the plurality of robots (2, 101, 202), the latest internal states stored in the data storage unit (16, 116, 216) to on-robot storages (26, 126) of the plurality of robots (2, 101, 202), and each of the robot control units (20, 120, 220) comprises: the on-robot storage (26, 126) that stores the latest internal state stored in the data storage unit (16, 116, 216); and an on-robot predictor (24, 123a) that predicts, at the control cycle of the corresponding robot (2, 101, 202), a prediction value necessary for controlling the robot (2, 101, 202), on the basis of the latest internal state stored in the on-robot storage (26, 126). a measuring unit (12, 112, 212) which acquires sensor information of a plurality of robots (2, 101, 202) by measuring the plurality of robots (2, 101, 202); a state estimation unit (14, 114, 214) which predicts and updates internal states of the plurality of robots (2, 101, 202) on the basis of the sensor information; a data storage unit (16, 116, 216) which stores the internal states updated by the state estimation unit (14, 114, 214); and a plurality of robot control units (20, 120, 220) which controls the plurality of robots (2, 101, 202), respectively, wherein the measuring unit (12, 112, 212) acquires the sensor information of the plurality of robots (2, 101, 202) at arbitrary timings that are independent of control cycles of the plurality of robots (2, 101, 202), at arbitrary timings that are independent of control cycles of the plurality of robots (2, 101, 202), the state estimation unit (14, 114, 214) predicts the internal state of each robot at the same time as the time when the sensor information is acquired, and compares the predicted internal state with the sensor information of each robot to update the internal states of the plurality of robots (2, 101, 202), the data storage unit (16, 116, 216) transfers, at timings that are independent of requests from the plurality of robots (2, 101, 202), the latest internal states stored in the data storage unit (16, 116, 216) to on-robot storages (26, 126) of the plurality of robots (2, 101, 202), and each of the robot control units (20, 120, 220) comprises: the on-robot storage (26, 126) that stores the latest internal state stored in the data storage unit (16, 116, 216); and an on-robot predictor (24, 123a) that predicts, at the control cycle of the corresponding robot (2, 101, 202), a prediction value necessary for controlling the robot (2, 101, 202), on the basis of the latest internal state stored in the on-robot storage (26, 126). the on-robot storage (26, 126) that stores the latest internal state stored in the data storage unit (16, 116, 216); and an on-robot predictor (24, 123a) that predicts, at the control cycle of the corresponding robot (2, 101, 202), a prediction value necessary for controlling the robot (2, 101, 202), on the basis of the latest internal state stored in the on-robot storage (26, 126).