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