Mohammad Ali Soleimani - Electrical Engineering Department Amirkabir University of Technology Tehran, Iran
Javad Bolboli - Electrical Engineering Department Amirkabir University of Technology Tehran, Iran
Mohammad Abbasi - Electrical Engineering Department Amirkabir University of Technology Tehran, Iran
Mojgan Elmi - Electrical Engineering Department Amirkabir University of Technology Tehran, Iran

This paper analyzes and simulates a dual-link robot whose second link is flexible. To extract its dynamic equations, Lagrange method, a common method to obtain equations of dynamical systems, was used.Then, robot was controlled through Feedback Linearization Method. This controller was not sufficiently robust against noise, disturbance and parameter variations. Therefore, fuzzy controller was further designed due to the probable uncertainties in the system. This controller was sufficiently robust against noise and disturbance.

Fuzzy control; Flexible link; Robot manipulators