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This flexibility is modeled by introducing into the manipulator a suitable number of artificial, non-actuated joints. It is assumed that the elastic forces exerted at these joints depend on the joints' positions and velocities, and are described as  \\[ M_i=-k_i \\psi_i-l_i \\dot\\psi_i \\]  \\((\\psi_i\\) denote positions of the non-actuated joints) for some positive gain coefficients \\(k_i,l_i\\). Under such an assumption the main result of this paper establishes that a control law of the form  \\[ u_j=-H_j \\text{sign}(s_k), \\quad s_i=\\dot e_j+\\lambda_je_j,\\;e_j= \\varphi_j- \\varphi^*_j, \\]  where \\(\\varphi_j\\) stand for positions of actuated joints, \\(\\varphi^*_j\\) denote desirable actuated joint trajectory, \\(\\lambda_t>0\\), renders the closed loop system exponentially stable provided that the gain coefficients \\(l_i\\) of non-actuated joints are sufficiently 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