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