This article deals with the endpoint control of a lightweight, two-link planar manipulator with flexible links. Three types of control methods are presented. The first method is based on the computed torque techniques where the actuators and the angular position sensors are collocated at the joints. The second method uses the deflections of the links and the joint angles to control the angle of a selected point along each link. This method is referred to as the noncollocated control. To add active damping to the flexible links, a third method that uses the noncollocated control combined with a delayed deflection has been introduced. Simulation studies have been conducted to compare the tracking performance of each method.
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