Manipulator i s now used as a industrial r obots in use, t he control objective s often a ppear often in i ndustrial a utomation. Industrial aut omation te chnol ogy ha s gradual ly matured, a s mature a technology li ne has been ra pid development i n in dustrial a utomation as a separate subject. Mani pulat or appli cation bega n to filter into weldi ng, l ogistics, mechani cal pr oce ssing , an