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The design of flexible manipulator is complicated due to inherently infinite dimension in nature. The sequential challenge is the problem such a non-minimum phase that is the cause of system instability. In this paper, a constrained single-link flexible arm is fully investigated using a linear distributed parameter model. In order to overcome the inherent limitations, a new input induced by the joint angular acceleration and an output generated using the contact force and root shear force aredoi:10.1139/tcsme-2013-0055 fatcat:nc5xykitpjgq5ar4svuvujgmna