{HEAD ~ a manipulator slave arm} having {TAIL ~ a wrist} joint capable of near human articulation at the free end thereof, said wrist joint having a tong adapted to receive any of a plurality of interchangeable work performing tools, 
{ HEAD ~ a manipulator slave arm } having { TAIL ~ a wrist } joint capable of near human articulation at the free end thereof , said wrist joint having a tong adapted to receive any of a plurality of interchangeable work performing tools ,
HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH