{HEAD ~ a manipulator master arm} having {TAIL ~ a manually operable control handle} at the free end thereof, 
having
{ HEAD ~ a manipulator master arm } having { TAIL ~ a manually operable control handle } at the free end thereof ,
HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH