This　article　presents　a　novel　approach　for　actively　suppressing　the　vibration　within　a　two-link　flexible　manipulator　to　adapt　the　variation　in　the　model　parameters,　which　is　composed　of　an　input　shaper　and　multimode　adaptive　positive　position　feedback.　Input　shaper　is　applied　to　shape　the　command　to　avoid　the　flexible　vibration　in　the　manoeuvre　motion,　and　the　residual　vibration　can　be　suppressed　by　a　piezo　actuator　with　the　adaptive　positive　position　feedback　approach.　To　demonstrate　the　approach,　two　sets　of　piezoelectric　actuator/stain　gauge　sensor　pairs　are　bonded　to　the　surface　of　the　two-link　flexible　manipulator;　slewing　of　the　flexible　link　induces　vibrations　in　the　link　that　persist　long　after　the　motors　stop　moving.　Vibration　suppression　is　achieved　through　a　combined　scheme　of　input　shaper-based　motor　motion　control　and　an　adaptive　positive　position　feedback-based　piezo　actuator　controller.　Experimental　results　show　the　effectiveness　of　the　proposed　approach　and　its　suitability　for　implementation　in　an　existing　robot.