[Problem] To provide an actuator control device with which desired drive control characteristics can be obtained by means of a simple operation.[Solution] This device performs: a reception process (S12) in which designations of a minimum operation amount and maximum operation amount of an operation unit for driving an actuator, and a maximum driving speed which is the actuator driving speed corresponding to the maximum operation amount are received; a determination process (S13, 14) in which a function representing a characteristic line that links a first point, which corresponds to the minimum operation amount and the driving speed of 0, and a second point, which corresponds to the maximum operation amount and the maximum driving speed, is stored in a storage unit as a drive control characteristic; and a drive control process in which, in response to operation of the operation unit, the actuator is driven at a driving speed corresponding to the operation amount specified by the drive control characteristic stored in the storage unit.