A manipulator comprises an operation command unit provided with an
attitude adjusting unit and an end effector control unit, a connecting
unit having one end connected to the operation command unit, a working
unit connected to the other end of the connecting unit and provided with
an end effector and a support unit supporting the end effector for
motions, and a control unit that transmits an operation command provided
by the attitude adjusting unit to the support unit to adjust the attitude
of the end effector and transmits an operation command provided by the
end effector control unit to the end effector to operate the end
effector. The support unit includes a first joint capable of turning
about a first axis perpendicular to the center axis of the connecting
unit, and a second joint capable of turning about a second axis
perpendicular to the first axis. The end effector can be turned for
rolling about an axis substantially parallel to the second axis of the
second joint. The attitude adjusting unit has a third joint having a
third axis perpendicular to the center line of the connecting unit. The
end effector control unit is formed such that the fingers of an operator
gripping operating members included in the end effector control unit
extend substantially in parallel to the fourth axis.