Manipulator i s now used as a industrial r obots in use, t he control objectives often a ppear often in i ndustrial a utomation. Industrial aut omation te chnol ogy ha s gradually mat ured, as mat ure a tec hnology li ne ha s been rapid development in i ndustrial a utomation as a separate subject. Mani pulat or appli cation bega n to filt er into weldi ng, l ogistics, mechani cal pr oce ssing , an