Manipulator is now used a s a i ndustrial r obot s in use, the control obje ctives ofte n appear often i n i ndustrial a utomation. Industrial a utomation te chnol ogy ha s gradually mature d, as mature a technology li ne has bee n rapi d development i n industrial a utomation as a separate subject. Manipul ator applicati on began to filter i nto weldi ng, l ogistics, me cha nical processing, a