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

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