Manipulator i s now used a s a industrial robots i n use, the control objectives often appear often in i ndustrial a utomation. Industrial a utomation technology has gradually mature d, as mature a technology li ne ha s be en ra pid development i n industrial automati on as a se parate subje ct. Ma nipulator appli cation bega n to filter int o wel ding, l ogisti cs, me cha nical processi ng, a nd