Manipulator i s now used a s a industrial robots i n use, the control objectives often a ppear often in industrial a utomation. Industrial a utomation technology has gradually mature d, as mat ure a technology li ne has been rapid devel opme nt in i ndustrial aut omation as a separate subject. Mani pulat or applicati on began t o filter into w eldi ng, l ogistics, mechani cal pr oce ssing, and ot