Manipulator i s now used a s a industrial robots i n use, the control obje ctives often appear often in i ndustrial a utomation. Industrial a utomation technology ha s gradually matured, as mature a te chnol ogy line ha s bee n rapi d development in industrial a utomation as a separate subje ct. Ma nipulator appli cation bega n to filter int o wel ding, l ogisti cs, me cha nical processi ng, a nd