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A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The approach to solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulator along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The feedforward and feedback torques are obtained by solving the inverse dynamics problem for the rigid manipulator and designing linear quadratic Gaussian with loop transfer recovery (LQG\/LTR) compensators, respectively. The LQG\/LTR design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. Computer simulated results are presented for an example planar, two\u2010link, structurally flexible robotic manipulator. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110609","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T15:18:04Z","timestamp":1183735084000},"page":"557-571","source":"Crossref","is-referenced-by-count":15,"title":["Unconstrained and constrained motion control of a planar two\u2010link structurally flexible robotic manipulator"],"prefix":"10.1002","volume":"11","author":[{"given":"B.\u2010O.","family":"Choi","sequence":"first","affiliation":[]},{"given":"K.","family":"Krishnamurthy","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,27]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"J. 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