A manipulator (10) comprises an actuator block (30) and a working unit (16) attachable to and detachable from the actuator block (30). The actuator block (30) has a motor (40, 41, 42), the working unit (16) has a connecting shaft (48) and an end working portion (12) disposed at the distal end thereof, and the end working portion (12) is rotated in conjunction with the motor (40, 41, 42). The working unit (16) further has a two-dimensional code (104) holding an identification signal, and the actuator block (30) further has an infrared camera (106) for recognizing the identification signal in the code (104) and supplying it to a controller (514), is the camera (106) being not in contact with the code (104). The controller (514) controls the working unit (16) based on the supplied identification signal.
