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We approximate elastic deformations by means of B\u2010spline functions and derive dynamic equations of joint angles, vibration of the flexible link, and constraint force. A controller for the hybrid position\/force control of the flexible manipulator is designed on the basis of the singular perturbation method. Simulation results confirm that the controller performs remarkably well. \u00a9 3994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110503","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:50:16Z","timestamp":1183733416000},"page":"355-366","source":"Crossref","is-referenced-by-count":54,"title":["Dynamic hybrid position\/force control of a two degree\u2010of\u2010freedom flexible manipulator"],"prefix":"10.1002","volume":"11","author":[{"given":"Fumitoshi","family":"Matsuno","sequence":"first","affiliation":[]},{"given":"Kazuo","family":"Yamamoto","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1985.1103978"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020409"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040307"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700404"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800604"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.54737"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070405"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139652"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087120"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.1220"},{"issue":"1","key":"e_1_2_1_13_2","first-page":"73","article-title":"Flexibility control of elastic robotic arms,","volume":"2","author":"Fukuda T.","year":"1985","journal-title":"J. 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