Based　on　fuzzy-PID　fusion　control　theory,　a　method　of　vibration　control　for　the　flexible　manipulators　with　piezoelectric　smart　structure　was　presented.　A　cantilevered　beam,　experimental　setups　of　1R　and　2R　flexible　manipulators　were　built,　and　their　control　systems　were　developed.　The　vibration　control　of　the　all　flexible　manipulators　was　achieved　by　experiments.　The　experimental　results　show　that　the　proposed　method　is　of　simple　arithmetic　and　real-time　characteristics　without　the　dynamics　model　of　the　manipulators　and　has　good　robustness　and　fast　response　for　vibration　control　of　flexible　manipulators.