This article deals with the endpoint control of a lightweight, two-lin
k planar manipulator with flexible links. Three types of control metho
ds are presented. The first method is based on the computed torque tec
hniques where the actuators and the angular position sensors are collo
cated at the joints. The second method uses the deflections of the lin
ks and the joint angles to control the angle of a selected point along
each link. This method is referred to as the noncollocated control. T
o add active damping to the flexible links, a third method that uses t
he noncollocated control combined with a delayed deflection has been i
ntroduced. Simulation studies have been conducted to compare the track
ing performance of each method.