at least one separate servo actuated manipulator slave subsystem located adjacent said {HEAD ~ worksite} for performing {TAIL ~ work} therein, said slave subsystem comprising: 
for performing
at least one separate servo actuated manipulator slave subsystem located adjacent said { HEAD ~ worksite } for performing { TAIL ~ work } therein , said slave subsystem comprising :
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH