A controller for a manipulator wherein the manipulator and an environment of the manipulator form {HEAD ~ a complex, dynamic model} with {TAIL ~ unknown parameter values}; the controller comprising: 
A controller for a manipulator wherein the manipulator and an environment of the manipulator form { HEAD ~ a complex , dynamic model } with { TAIL ~ unknown parameter values } ; the controller comprising :
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH