Manipulator i s now used a s a industria l robots in use , the control obje ctives often appear often i n industrial automati on. Industrial automati on technology has gradually mature d, as mat ure a technology li ne ha s be en ra pid development i n industrial automation as a sep arate subject. Ma nipulator appli cation bega n to filter int o welding, l ogistics, mechani cal processi ng, a nd ot