PROBLEM TO BE SOLVED: To provide a manipulator control device capable of matching the coordinate of a master manipulator to the coordinate of a slave manipulator without restarting a manipulator device even during operation. SOLUTION: The manipulator control device comprises the slave manipulator 2 for operation in an operation field, the master manipulator 3 as an operation part for remote control of the slave manipulator 2, and reset setting means for setting a reset position of resetting the slave manipulator 2 to a position as instructed by the master manipulator 3 when the instruction of the master manipulator 3 is restored to the operation range of the slave manipulator 2 after the master manipulator 3 instructs action beyond the limited action of the slave manipulator 2.