Manipulator

A manipulator comprising:

• a base;
• a first joint having a rotation axis in a first direction crossing a gravity direction;
• a first coupling member coupling the base and the first joint;
• a second joint having a rotation axis in a second direction crossing the first direction;
• a second coupling member coupling the first joint and the second joint;
• a first arm coupled with the second joint along a third direction crossing the second direction;
• a second arm coupled with the second joint, at a side opposite to a side where the second joint is coupled with the first arm, along the third direction;
• a variable center-of-gravity unit coupled with the first arm at a side opposite to a side where the first arm is coupled with the second joint, the variable center-of-gravity unit including a first weight and a second weight;
• a holder coupled with the second arm at a side opposite to a side where the second arm is coupled with the second joint;
• and
• a controller which controls the variable center-of-gravity unit to perform at least one of operations while the holder holds an object, the operations including a first operation for moving the first weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the first joint and a second operation for moving the second weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the second joint.