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The mathematics involved here relies on the theory of infinite dimensional control systems in Hilbert spaces. A Cartesian manipulator is considered, equiped with a long, flexible arm. Deflections of this arm are allowed in two orthogonal directions. A model of the arm's dynamics includes fourth order partial differential equations with boundary conditions, taking the following form  \\[ {d^2\\over dt^2}y(t) +Ay(t)= bu(t),\\tag \\# \\]  where \\(y(t)\\) is an element of a Hilbert space, \\(u(t)\\) denotes a control and \\(A\\) is a linear operator. Several spectral properties of \\(A\\) have been studied. Then the model \\((\\#)\\) has been converted into the form  \\[ {d\\over dt}z(t)= Az(t)+ B(t)\\tag \\#\\# \\]  with operator \\(A\\) defined again on a Hilbert space. For the last system, existence and uniqueness of solutions are shown, and approximate controllability is established. Endowed with a suitable output function, the system \\((\\#\\#)\\) is also proved to be observable. 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