A controlled relative motion system having first and second support structures with a controlled output position joint connecting them, and with similar joints on these support structures. One joint is coupled to another controlled relative motion system having an output carrier rotatable in two perpendicular directions through the use of gears therein. This output carrier supports two articulated manipulating systems of which one has a single axis rotatable subbase supporting a rotatable gripping extension, and the other has a shackle connected to a base effector which shackle is supported on a fixed pedestal and another shackle connected to a base effector which shackle is supported on a moveable pedestal.