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