PURPOSE: To relieve the burden of an operator, to indicate the accurate working point of each effect element to a terminal effector having a plurality of effect elements, and to perform the effective use of the terminal effector.

CONSTITUTION: When a terminal effector 2 having a plurality of terminal effect elements is attached to a manipulator body 1, a discrimination signal inherent to the terminal effect element is transmitted from a discrimination signal transmitter receiver 3 to a control computing device 5 through a transmission device 4. The control computing device 5 reads a control parameter, corresponding to the discrimination signal, from a memory part 5a. Computation is executed based on a control parameter by means of a computing part 5b, and the working point of the terminal effect element is indicated to the control part of the manipulator body 1. When the manipulator body 1 completes control according to indication for the working point, a working point completion signal is transmitted to the terminal effector 2 and a discriminating signal corresponding to a subsequent discriminating effect element is transmitted to a control computing device from a discrimination signal transmitter receiver 3.