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