Manipulator i s now used as a i ndustrial robots in use, t he contr ol obje ctives often appear often in i ndustrial a utomation. Industrial a utomation technology has gradually mature d, as mat ure a technology line has bee n rapi d devel opme nt in i ndustrial a utomation as a se parate subje ct. Ma nipulat or applicati on began t o filter into weldi ng, logistics, mecha nical processi ng, a nd