Manipulator i s now used a s a industri al robots i n use, the control obje ctives often appear ofte n in i ndustrial aut omation. In dustrial automati on te chnol ogy has gra dually mat ured, a s mature a te chnol ogy line has been rapid devel opment i n industrial aut omation s a se parate subje ct. Ma nipulator appli cation bega n to filter into w eldi ng, logi stics, mechani cal pr oce ssing,