Vibration control of a maneuvering flexible robotic arm is a challenging task in the presence of changing structural
dynamics which has to deal with measurement inaccuracies and complex modeling efforts. This paper presents
an effective and versatile controller for a maneuvering flexible arm. Proposed Variable Stiffness Control (VSC) is
stable, due to its being dissipative in nature. The technique is suitable to be implemented as an add-on controller
to existing robots, and it requires no additional hardware. Control is based on the detection of a kinematic event,
peak relative displacement, rather than an accurate knowledge of structural dynamics. Hence, although there
may not be a claim for the suggested control to be the most effective, it certainly represents significant practical
advantages for cases where there may be structural uncertainties.