{HEAD ~ microprocessor motion controller} means for each motion to be performed by {TAIL ~ the manipulator slave arm}, 
{ HEAD ~ microprocessor motion controller } means for each motion to be performed by { TAIL ~ the manipulator slave arm } ,
HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH