In {TAIL ~ the hybrid hybrid control strategy}, {HEAD ~ the adaptive controllers} ensure that both end effectors track reference position trajectories while simultaneously applying desired forces on the load 
In
In { TAIL ~ the hybrid hybrid control strategy } , { HEAD ~ the adaptive controllers } ensure that both end effectors track reference position trajectories while simultaneously applying desired forces on the load
REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH