Manipulator i s now used a s a industrial robots i n use, the control objectives often a ppear often in industrial a utomatio n. Industrial a utomation technology has gradually mature d, as mat ure a technology li ne has been ra pid devel opment i n industrial aut omation a s a separate subject. M ani pulator appli cation bega n to filter int o wel ding, logisti cs, me cha nical processing, nd oth