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__    __   _    _     ______    _____    _    _   
\ \\ / // | || | ||  /_____//  |  ___|| | \  / || 
 \ \/ //  | || | ||  `____ `   | ||__   |  \/  || 
  \  //   | \\_/ ||  /___//    | ||__   | .  . || 
   \//     \____//   `__ `     |_____|| |_|\/|_|| 
    `       `---`    /_//      `-----`  `-`  `-`  
                     `-`

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發送短信 : Robust impedance control of a flexible structure mounted manipulator performing contact tasks