microprocessor motion controller means for {HEAD ~ each motion} to be performed by {TAIL ~ the manipulator slave arm}, 
microprocessor motion controller means for { HEAD ~ each motion } to be performed by { TAIL ~ the manipulator slave arm } ,
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH