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Manipulator is now use d as a i ndustrial robots i n use , the control objective s often appear often in industrial automati on. Industrial a utomation technol ogy ha s gradual ly matured, a s mature a technol ogy line has bee n rapid development i n industrial a utomation as a se parate subje ct. Ma nipulator appli cation began t o filter into wel ding, l ogistics, mechani cal pr oce ssing, and o