Disclosed herein is an articulated manipulator capable of moving a tool such as an inspection device, a processing device, or a welding device to a desired position for inspection or repair of a defect portion in a limited place. The articulated manipulator includes a base plate, a movable unit slidably coupled on the base plate, a rotatable unit rotatably coupled on the movable unit, and a rotation unit rotatably coupled to one side of the rotatable unit.