The purposes of this research are to formulate the equation of motion of the system, to develop the computational
codes by a finite-element method in order to perform dynamics simulations with vibration control and to propose an effective
control scheme of a flexible single-link manipulator. The system used in this paper consists of an aluminum beam as a flexible
link, a clamp-part, a servo motor to rotate the link and a couple of piezoelectric actuator to control vibration. Computational
codes on time history responses, FFT (Fast Fourier Transform) processing and eigenvalues - eigenvectors analysis were
developed to calculate the dynamic behavior of the link. Furthermore, a control scheme using the piezoelectric actuators was
designed to suppress the vibration. A proportional-derivative controller was designed and demonstrated its performances. The
calculated results of the controlled single-link manipulator revealed that the vibration of the flexible manipulator can be
controlled effectively.