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 ______     ______  __    __   __   __   _____    
|      \\  /_   _// \ \\ / //  \ \\/ // |  __ \\  
|  --  //   -| ||-   \ \/ //    \ ` //  | |  \ || 
|  --  \\   _| ||_    \  //      | ||   | |__/ || 
|______//  /_____//    \//       |_||   |_____//  
`------`   `-----`      `        `-`'    -----`

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Text this: Robust impedance control of a flexible structure mounted manipulator performing contact tasks