Manipulator i s now used a s a industrial robots i n use, the control obje ctives often appear ofte n in i ndustrial a utomation. Industrial aut omation te chnol ogy ha s gradua lly matured, a s mature a te chnol ogy line has bee n rapi d devel opme nt in i ndustrial a utomation as a separate subject. Mani pulat or appli cation bega n to filter int o wel ding, l ogisti cs, me cha nical processi ng