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  _____     _____                ___     __   _   
 / ____||  |  ___||   ____      / _ \\  | || | || 
/ //---`'  | ||__    |    \\   / //\ \\ | '--' || 
\ \\___    | ||__    | [] ||  |  ___  ||| .--. || 
 \_____||  |_____||  |  __//  |_||  |_|||_|| |_|| 
  `----`   `-----`   |_|`-`   `-`   `-` `-`  `-`  
                     `-`

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