I204　recent　year,　the　continuum　robot　is　focused　on　because　of　its　flexibility　and　adapt.　However,　the　free-end　vibration　is　a　critical　factor　which　hinder　the　operation　stability　of　continuum　robot.　The　complexity　of　free　end　vibration　is　main　origin　from　the　flexible　structure.　Hence,　the　vibration　dynamic　model　is　difficult　to　establish　as　an　accurate　solution.　This　paper　presented　a　novel　method　for　analyzing　the　free　end　vibration　state　of　the　continuum　robot,　and　proposed　the　corresponding　control　strategy.　Firstly,　the　prototype　is　built　and　the　kinematics　is　established　for　driving　the　continuum　robot.　Secondly,　the　feed-back　system　is　set　up　by　using　an　acceleration　sensor　for　acquiring　the　real-time　acceleration　date.　Further,　the　vibration　characteristic　parameters　of　the　continuum　robot　are　calibrated　based　on　the　identification　method,　by　which　to　obtain　the　first-order　damped　natural　frequency　and　attenuation　coefficient　of　the　continuum　robot　under　different　posture.　Then,　the　vibration　function　of　free　end　is　solved　depend　on　the　first-order　damped　natural　frequency　and　attenuation　coefficient　parameters.　Finally,　the　residual　vibration　of　free-end　is　effectively　attenuated　by　the　theoretical　vibration　mode.　©　2018　IEEE.