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Grasping with flexible fingers presents an attractive approach for certain robotic tasks. Its implementation requires simultaneous position and force control of flexible manipulators, an area about which there is little information in the literature. This paper presents an initial effort at designing controllers for flexible link robots to control both position and force. The analysis is done on a two degree-of-freedom two-link manipulator with the last link flexible. A control strategy is proposed and asymptotic stability is proved. Results from using this control law in simulations and on an experimental setup are presented.