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The subject of this article is the examination of dynamics and a control issue of a robotic manipulator modeled with link structural flexibility during execution of a task that requires the robot tip to contact fixed rigid objects in the work environment. In this paper, the hybrid position/force control for a flexible link robot arm is adopted. Therefore, a multi-time scale fuzzy logic controller will be applied for such system. Using this methodology, the control of the force and the position of the end point are possible while the end effector moves on the constraint surface.