PURPOSE: To control a slave arm having 7 degrees of freedom with one hand of an operator in a method for controlling position and posture of a slave arm having 7 degrees of freedom.

CONSTITUTION: A master arm 10 is provided with a switch 10A, which can be operated by the tip of a finger, and an operator can operate the master arm 10 and the switch 10A simultaneously with one hand. Ordinary 6 command values are output to a slave arm 20 having 7 degrees of freedom by operating the master arm 10, and furthermore, one more command value is output to the slave arm 20 by operating the switch 10A. Position of joints of the slave arm 20 is decided on the basis of the command value from the switch 10A. The slave arm 20 having 7 degrees of freedom is controlled on the basis of these 7 command values. The slave arm 20 having 7 degrees of freedom, which has been operated by both hands of an operator, can be controlled by one hand.