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 matured, as mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate subject. Ma nipulator appli cation began t o filter into wel ding, logisti cs, mechanical pr oce ssing, and other