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