In the position hybrid control strategy, the adaptive controller of one arm controls end effector motions in the free directions and {HEAD ~ applied forces} in {TAIL ~ the constraint directions}; while the adaptive controller of the other arm ensures that the end effector tracks desired position trajectories 
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In the position hybrid control strategy , the adaptive controller of one arm controls end effector motions in the free directions and { HEAD ~ applied forces } in { TAIL ~ the constraint directions } ; while the adaptive controller of the other arm ensures that the end effector tracks desired position trajectories
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 REL 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