The purposes of this research are to derive the equations of motion of a flexible two-link system by a finite
element method, to develop computational codes in order to perform dynamics simulations with vibration control and to
propose an effective control scheme of a flexible two-link manipulator. The flexible two-link manipulator used in this
paper consists of two aluminum beams as flexible links, two clamp-parts, two servo motors to rotate the links and two
piezoelectric actuators to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform)
processing and eigenvalues - eigenvectors analysis were developed to calculate the dynamic behavior of the links.
Furthermore, a control scheme using the piezoelectric actuators was designed to suppress the vibration. Two proportional derivative
controllers were designed and demonstrated their performances. The calculated results of the controlled two-link
manipulator revealed that the vibration of the flexible manipulator can be controlled effectively even though only use one
piezoelectric actuator.