@conference {TilleyC:1986a, title = {{End-point Force Control of a Very Flexible Manipulator with a Fast End Effector}}, booktitle = {Proceedings of the ASME Winter Annual Meeting}, volume = {3}, year = {1986}, month = {December}, pages = {1-9}, address = {Anaheim, CA}, author = {Scott W. Tilley and Robert H. Cannon Jr. and Raymond Kraft} }