The passive dynamic control ("PDC") is a mechanical system control method based on an inherently safe design. It positively uses a brake having variable characteristics. In this paper, the PDC is applied to a two-link pneumatic artificial muscle manipulator. First, new mechanism in which two arms are controlled separately is proposed, and its control method based on operation of MR brakes is described. Then, the effectiveness of the proposed control method is examined through experiments of positioning control and circular follow-up control.