Manipulator

A manipulator (201) having a plurality of articulations (301 to 305) to be controlled with a given destination value of position and orientation, has a finite difference unit (103) for obtaining a finite difference between the destination value and a present value for each articulation, and a fuzzy inference determination unit (101) for executing a fuzzy inference for each articulation by using the finite differences and determining a command value for each articulation. The position of the manipulator terminal may be obtained on the basis of each articulation angle data, video data from a TV camera, or data from an ultrasonic sensor.