If you have a passable computer, there are some wonderfully accurate emulations of Minimoogs and other classic synths. You can learn a LOT about programming from messing with these, at a fraction of the cost of a real Moog or ARP.....

There are even a bunch of pretty decent FREE soft synths out there, and you can learn your programming chops for free! And if you want to get the full knob twiddling your heart out experience, there are some very affordable MIDI knob controllers you can map to control the soft synths.

Don't hold off just because you think you couldn't possibly afford some of the original classic synths....