A new method is proposed for the end-effector motion and contact force control of flexible robot manipulators. The dynamic equations of flexible manipulators are partitioned as pseudostatic equilibrium equations and deviations from them. The pseudostatic equilibrium considered here is defined as a hypothetical state where the end-effector motion variables have their desired values while the elastic deformation variables are instantaneously constant. Then, the portion of the control torques for the pseudostatic equilibrium and the portion for the feedback stabilization of the deviations are generated using the measurement signals taken from the end-effector force and moment sensors, the strain gages and the joint encoders or the tip position sensors. The performance of the proposed method is illustrated on a planar two link robot with flexible forearm which is constrained to move on a cylindrical surface.