The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of {HEAD ~ the arm dynamic parameters} or the load parameters such as {TAIL ~ mass} and stiffness 
such as
The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of { HEAD ~ the arm dynamic parameters } or the load parameters such as { TAIL ~ mass } and stiffness
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH REL REL TAIL TAIL TAIL TAIL TAIL OTH OTH