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