Manipulator i s now use d as a industrial r obots in use, the control objectives often a ppear often i n industrial aut omation. Industrial aut omation te chnol ogy ha s gradually mature d, as mat ure a te chnology line has bee n rapi d develo pment i n industrial automati on as a separate subject. Mani pulat or applicati on began t o filter int o wel ding, logisti cs, me cha nical processing