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<h2>AAS 95-358</h2><h2>Single and Dual Arm Robot Control for Free and Contact Motion</h2><h4>D. Necsulescu, R. Jassemi and J. de Carufel, University of Ottawa, Canada, S. Kalaycioglu, Canadian Space Agency, St-Hubert, Quebec,Canada</h4><h2> Abstract </h2><br><br>