Low computational requirements make the control loops of {HEAD ~ the single arm invention} suitable for {TAIL ~ implementation} in on line hybrid control with high sampling rates 
suitable for
Low computational requirements make the control loops of { HEAD ~ the single arm invention } suitable for { TAIL ~ implementation } in on line hybrid control with high sampling rates
OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH