a data transmission link between {HEAD ~ said digital communications system}, said links comprising an interconnection between said supervisor processor and the microprocessor controllers of the master and slave subsystems for {TAIL ~ each manipulator motion}, 
a data transmission link between { HEAD ~ said digital communications system } , said links comprising an interconnection between said supervisor processor and the microprocessor controllers of the master and slave subsystems for { TAIL ~ each manipulator motion } ,
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH