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This paper deals with a control technique of eliminating the transient vibration of a two-link planar manipulator. To drive the two-link manipulator, a geared motor is installed in each of the joints. The control technique is based on a state-feedback control by using the angular-velocity measured with a sensor attached to the gear reducer's output stage as a state-variable. The difference between the measured angular velocity of the final gear stage and the motor velocity is calculated dynamically, and it is added to the velocity command to establish the damping effect on the driven mechanical part and suppress the transient vibration. The performance and the effectiveness of this control technique are verified by simulations. Simulations show satisfactory control results to reduce the transient vibration generated at the end-effector.