The adaptive controllers do not require {HEAD ~ the complex mathematical model} of {TAIL ~ the arm dynamics} or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness 
of
The adaptive controllers do not require { HEAD ~ the complex mathematical model } of { TAIL ~ the arm dynamics } or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness
OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH