The problem of end-point positioning of flexible arms is discussed. Because of the nonminimum phase nature of the problem, inversion fails to produce bounded joint torques. Bounded noncausal joint torques for achieving the task of end-point tracking for a multilink arm are found using optimal control theory. The torques obtained have no high-frequency content, and are suitable for practical applications. The method is illustrated by simulation of a single-link arm, for which stability and robustness considerations for design are given.

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