Manipulator is now use d as a industrial robots in use, t he control obje ctives ofte n appear often in i ndustrial a utomation. Industrial automati on technology has gradually matured, a s mature a technology li ne has bee n rapid devel opment i n industrial a utomation as a se parate subje ct. Ma nipulator appli cation began t o filter into wel ding, l ogisti cs, mechani cal pr oce ssi ng, and o