Manipulator is now use d as a i ndustrial robots in use , the control objectives often appear often i n industria l automati on. Industrial a utomation technol ogy ha s gradually mature d, as mature a te chnol ogy line has been ra pid development in i ndustrial a utomation as a se parate subje ct. Manipulator appli cation began t o filter into wel ding , logisti cs, me cha nical processi ng, and o