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Its main result consists in the design of an inverse dynamics controller assisted by a link deflection speed observer. The equations of the manipulator's dynamics take on the form NEWLINE\\[NEWLINEM(q,\\delta) {\\ddot q\\brack \\delta}+ {f_1(q,\\dot q)+ g_1(q,\\dot q,\\delta, \\dot \\delta)\\brack f_2(q,\\dot q)+ g_2(q,\\dot q,\\delta, \\dot\\delta) +K\\delta}= {u \\brack 0}, \\tag{*}NEWLINE\\]NEWLINE where \\(q\\in\\mathbb{R}^n\\), \\(\\delta\\in \\mathbb{R}^m\\) denote, respectively, joint variables and deflection variables, \\(f_1,f_2, g_1,g_2\\) stand for Coriolis, centripetal and gravity torques, \\(K\\) is the stiffness matrix, \\(u \\in \\mathbb{R}^n\\) denotes a vector of input torques. The outputs of this system have been chosen as NEWLINE\\[NEWLINE(\\%)\\;y=q+\\Psi (\\alpha)\\delta,NEWLINE\\]NEWLINE where the matrix \\(\\Psi (\\alpha)\\) depends on modal shape functions, and \\(\\alpha\\in\\mathbb{R}^n\\) serves to achieve stability of the zero dynamics of the system (*) with outputs \\((\\%)\\). It is shown that this system has an input-output map NEWLINE\\[NEWLINE\\ddot y=a(\\alpha,q,\\dot q, \\delta, \\dot\\delta)+ B(\\alpha,q, \\delta)u,NEWLINE\\]NEWLINE and is locally input-output linearizable by a static feedback, which results in the tracking algorithm of the form NEWLINE\\[NEWLINEu=B^{-1} (\\alpha,q, \\delta)\\bigl(\\nu -a(\\alpha,q,\\dot q,\\delta,\\dot \\delta) \\bigr)+K_1 (q)\\delta+ K_2(q)\\dot \\delta.NEWLINE\\]NEWLINE The last two terms in the above expression increase robustness of the algorithm, \\(\\nu\\) incorporates the 2nd derivative of a desirable output trajectory as well as a PD controller depending on the position and estimated velocity tracking errors. Since the speed of deflection variables is usually unknown, a full order and a reduced order Luenberger-type observer have been proposed in order to estimate \\(\\dot \\delta\\). 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