Manipulator i s now use d as a i ndustrial robots i n use, the control obje ctives often appear often i n industrial a utomation. Industrial a utomation technol ogy ha s gradually mat ured, as mat ure a technology li ne ha s bee n rapi d devel opme nt in i ndustrial aut omation a s a se parate subje ct. Manipulator appli cation began t o filter into w eldi ng, logisti cs, me cha nica l processing