Manipulator i s now use d as a i ndustrial robots i n use, the control obje ctives often a ppear often i n industrial a utomation. Industrial aut omation te chnol ogy has gra dually mature d, as matur e a technol ogy line has bee n rapi d devel opme nt in industrial automati on as a separate subject. Mani pulat or appli cation began t o f ilter into we ldi ng, logisti cs, me cha nical processing,