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