a manipulator slave arm having a wrist joint capable of near human articulation at the free end thereof, said {HEAD ~ wrist joint} having a tong adapted to receive any of {TAIL ~ a plurality} of interchangeable work performing tools, 
a manipulator slave arm having a wrist joint capable of near human articulation at the free end thereof , said { HEAD ~ wrist joint } having a tong adapted to receive any of { TAIL ~ a plurality } of interchangeable work performing tools ,
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH