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