Patent ID: 6889116

Claim:
A manipulator comprising: 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 in at least two degrees of freedom of motion; 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; wherein the support unit includes a first joint capable of turning about a first axis perpendicular to a 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 has a center axis substantially parallel to the second axis, the attitude adjusting unit includes a third joint capable of turning about a third axis perpendicular to the center axis of the connecting unit and a fourth joint capable of turning about a fourth axis perpendicular to the third axis, and the end effector control unit is provided to be gripped by fingers extending substantially in parallel to the fourth axis.