Manipulator is now use d as a i ndustrial robots i n use, the contr ol objective s often a ppear often in i ndustrial aut omation. In dustrial a utomation technology has gradually matured, a s mature a technology li ne ha s bee n rapi d devel opme nt in industrial automati on as a separate subject. Mani pulat or appli cation bega n to filter into wel ding, logisti cs, me cha nical processi ng, a n