Manipulator i s now used as a i ndustrial robots in use, the control obje ctives often appear often i n industri al automati on. Industrial a utomation technology has gradually matured, a s mature a te chnology li ne has been ra pid development in i ndustrial a utomation as a separate subject. M anipulator appli cation bega n to filter into w eldi ng, logi stics, me cha nical processing, a nd oth