Furthermore, the adaptive force and position controllers have learning {HEAD ~ capabilities} to cope with {TAIL ~ unpredictable changes} in the manipulator or environment parameters such as environment or robotic arm stiffness 
to cope with
Furthermore , the adaptive force and position controllers have learning { HEAD ~ capabilities } to cope with { TAIL ~ unpredictable changes } in the manipulator or environment parameters such as environment or robotic arm stiffness
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH