Manipulator i s now use d as a i ndustrial robots i n use, the control obje ctives ofte n appear often i n industrial a utomation. Industrial a utomation technology ha s gradually matured, a s mature a technology li ne ha s been rapi d deve lopme nt in i ndustrial aut omation a s a se parate subje ct. Ma nipulator appli cation bega n to filter into w eldi ng, logi stics, me cha nica l processing,