  In this paper we propose an implicit force control scheme for a one-link
flexible manipulator that interact with a compliant environment. The controller
was based in the mathematical model of the manipulator, considering the
dynamics of the beam flexible and the gravitational force. With this method,
the controller parameters are obtained from the structural parameters of the
beam (link) of the manipulator. This controller ensure the stability based in
the Lyapunov Theory. The controller proposed has two closed loops: the inner
loop is a tracking control with gravitational force and vibration frequencies
compensation and the outer loop is a implicit force control. To evaluate the
performance of the controller, we have considered to three different
manipulators (the length, the diameter were modified) and three environments
with compliance modified. The results obtained from simulations verify the
asymptotic tracking and regulated in position and force respectively and the
vibrations suppression of the beam in a finite time.
