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