The　dynamics　and　motion　control　of　flexible　robot　manipulators　is　an　advanced　topic　in　the　study　of　robotics.　The　precise　tracking　of　the　end-effector　trajectory　of　flexible　robots　can　be　improved　by　the　self-motion　of　redundant　manipulators.　The　flexible　manipulator　with　single-degree　of　kinematic　redundancy　has　been　considered　only　at　present.　This　study　addresses　on　the　dynamics　and　motion　control　of　flexible　robots　with　multi-degree　of　kinematic　redundancy.　Compared　with　the　robot　with　one-degree　of　redundancy,　the　optimal　motion　programming　of　a　flexible　robot　manipulator　with　two-degree　of　redundancy　has　been　obtained　successfully　based　on　pseudo-inverse　solution.　The　numerical　results　of　planar　three-link　and　four-link　flexible　manipulators　show　the　advantage　of　multi-degree　of　redundancy　in　improving　the　kinematic　and　dynamic　performances　of　flexible　robot　manipulators.　Copyright　©　2005　by　ASME.