Vibration occurring at an arm part of an industrial robot when the arm part is moved is controlled by combining vibrations occurring at two time points for mutual interference. In each of acceleration and slowdown periods, the time difference of rise and fall time points t.sub.1, t.sub.4 and t.sub.2, t.sub.3 of a differential value of an acceleration with respect to time is set to be an integral number times the natural vibration period of the system so that the vibrations occurring at the rise and fall time points interfere with each other to cancel one another. Also, the vibration occurring in the acceleration period and the vibration occurring in the slowdown period can cancel each other.