Furthermore, the adaptive force and position controllers have learning capabilities to cope with {HEAD ~ unpredictable changes} in {TAIL ~ the manipulator or environment parameters} such as environment or robotic arm stiffness 
Furthermore , the adaptive force and position controllers have learning capabilities to cope with { HEAD ~ unpredictable changes } in { TAIL ~ the manipulator or environment parameters } such as environment or robotic arm stiffness
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH