In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (θc), and outputs a processed joint-angle target value (θd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).