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Manipulator i s now used a s a industria l robots in use , the control obje ctives often appear often i n industrial automati on. Industrial automati on technology has gradually mature d, as mat ure a tec hnology li ne ha s be en ra pid development i n industrial automation as a separate subject. Ma nipulator appli cation bega n to filt er int o welding, l ogistics, mechani cal processi ng, a nd o