{HEAD ~ microprocessor motion controller} means for {TAIL ~ each motion} to be performed by the manipulator slave arm, 
for
{ HEAD ~ microprocessor motion controller } means for { TAIL ~ each motion } to be performed by the manipulator slave arm ,
HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH