A controller for a manipulator wherein the manipulator and {HEAD ~ an environment} of {TAIL ~ the manipulator form} a complex, dynamic model with unknown parameter values; the controller comprising: 
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A controller for a manipulator wherein the manipulator and { HEAD ~ an environment } of { TAIL ~ the manipulator form } a complex , dynamic model with unknown parameter values ; the controller comprising :
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH