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 has gradually mature d, as mature a technology li ne ha s be en rapi d development in industrial a utomation as a separate subje ct. Ma nipulator appli cation bega n to filter into weldi ng, l ogistics, mechani cal pr oce ssi ng, and o