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  _____      ___    __    __    _____    _    _   
 / ____||   / _ \\  \ \\ / //  |  ___|| | || | || 
/ //---`'  | / \ ||  \ \/ //   | ||__   | || | || 
\ \\___    | \_/ ||   \  //    | ||__   | \\_/ || 
 \_____||   \___//     \//     |_____||  \____//  
  `----`    `---`       `      `-----`    `---`

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