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