Control of angular position without oscilations of manipulator with two elastic links

Problem of manipulator plane motion control is considered. The manipulator consists of two elastic links and of a rigid body placed at the end of the second link. Purpose of control is to transfer the manipulator from the given initial configuration to the given final configuration without oscillations at the end of maneuvre. Longitudinal and bending deformations are taken into account. General equations of manipulator motion were deduced. Required control moments were constructed as powers series with respect to small value, which is inversely proportional to the Young module. Recurrent formulas were received for all terms of expansions. Numerical analysis was accomplished for the received decisions.