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