Manipulator is now use d as a industrial robots in use, t he control objectives often appear often i n industrial a utomation. Industrial aut omation te chnol ogy has gradually mature d, as mature a te chnology li ne ha s be en rapi d devel opme nt in industrial automati on as a separate subject. M ani pulator appli cation began t o filter into wel ding , logisti cs, mechanical proce ssi ng, and o