Manipulator is now use d as a i ndustrial robots in use, t he control objectives often appear often i n industrial a utomation. Industrial aut omation te chnol ogy has gra dually mature d, as mature a te chnol ogy line has been rapid development in i ndustrial aut omation a s a se parate subject. Mani pulat or appli cation began t o filter into wel ding, logisti cs, mecha nical processi ng, and ot