A vibration suppression device acquires a teaching position, computes a speed plan based on the acquired teaching position and a first acceleration/deceleration parameter, computes data related to deflection occurring during an acceleration/deceleration operation of a robot based on the teaching position and the speed plan, and acquires data indicating a posture at the teaching position. Further, a machine learning unit of the vibration suppression device estimates an acceleration/deceleration parameter with respect to the data related to the deflection and the data related to the posture using the data related to the deflection and the data related to the posture as input data.