An elastic-deformation-compensation control device for an articulated robot including a motor and an arm being coupled through an elastically deformable reduction gear in the articulated robot, a tool being attached to the articulated robot, and a plurality of joint axes each being driven by the motor to cause the tool to perform a desirable operation, the elastic-deformation-compensation control device comprising: a joint-angle-command-value calculation unit that calculates a joint-angle command value θlc of each of the joint axes for providing the desirable operation of the tool, and outputs the joint-angle command value θlc; an axial force torque calculation unit that calculates an axial force torque fc generated when an operation is made according to the joint-angle command value θlc and acting on each of the joint axes, from the joint-angle command value θlc based on a model of dynamics, and outputs the axial force torque fc; a motor-angle-command-value calculation unit that calculates a motor-angle command value θmc from the joint-angle command value θlc and the axial force torque fc based on a parameter including a stiffness parameter of the joint axis, and outputs the motor-angle command value θmc; a first dynamic characteristic calculation unit that has a high-frequency cutoff characteristic having a cutoff frequency being lower than a natural resonance frequency of the articulated robot, executes filtering processing on the motor-angle command value θmc, and outputs a processed motor-angle target value θmd; a motor-angle control unit that receives the motor-angle target value θmd input as a target value for the motor; a second dynamic characteristic calculation unit that has a high-frequency cutoff characteristic having a cutoff frequency being lower than or equal to the first dynamic characteristic calculation unit, executes filtering processing on at least one of an input to the axial force torque calculation unit and an output from the axial force torque calculation unit, and outputs a processed axial force torque compensation value fd; and a motor-current control unit that receives a value input as a target value, in which the axial force torque compensation value fd is added to a motor-torque command value output from the motor-angle control unit. a joint-angle-command-value calculation unit that calculates a joint-angle command value θlc of each of the joint axes for providing the desirable operation of the tool, and outputs the joint-angle command value θlc; an axial force torque calculation unit that calculates an axial force torque fc generated when an operation is made according to the joint-angle command value θlc and acting on each of the joint axes, from the joint-angle command value θlc based on a model of dynamics, and outputs the axial force torque fc; a motor-angle-command-value calculation unit that calculates a motor-angle command value θmc from the joint-angle command value θlc and the axial force torque fc based on a parameter including a stiffness parameter of the joint axis, and outputs the motor-angle command value θmc; a first dynamic characteristic calculation unit that has a high-frequency cutoff characteristic having a cutoff frequency being lower than a natural resonance frequency of the articulated robot, executes filtering processing on the motor-angle command value θmc, and outputs a processed motor-angle target value θmd; a motor-angle control unit that receives the motor-angle target value θmd input as a target value for the motor; a second dynamic characteristic calculation unit that has a high-frequency cutoff characteristic having a cutoff frequency being lower than or equal to the first dynamic characteristic calculation unit, executes filtering processing on at least one of an input to the axial force torque calculation unit and an output from the axial force torque calculation unit, and outputs a processed axial force torque compensation value fd; and a motor-current control unit that receives a value input as a target value, in which the axial force torque compensation value fd is added to a motor-torque command value output from the motor-angle control unit.