This　paper　presents　an　experimental　study　on　the　dynamics　and　vibration　control　of　a　high-speed　manipulator.　Light　weight　and　high-speed　manipulators　are　flexible　structures,　vibration　will　be　unavoidable　due　to　motion　of　inertial　components　or　uncertainty　disturbance　excitation.　To　solve　this　problem,　input　shaping　feed　forward　controller　is　adopted　to　suppress　vibration　of　a　flexible　smart　manipulator.　Also,　multi-mode　positive　position　feedback　(PPF)　controller　is　designed　with　piezoelectric　actuator,　for　suppressing　the　lower　amplitude　vibration　near　the　equilibrium　point　significantly.　Especially,　the　experiment　setup　that　includes　the　test-bed　mechanism　of　a　flexible　planar　parallel　smart　manipulator　and　the　hardware　and　software　structures　of　the　control　system　are　then　developed.　Experimental　research　is　conducted　to　show　that　the　adopted　input　shaping　algorithm　can　substantially　suppress　the　larger　amplitude　vibration,　and　the　PPF　controller　can　also　damp　out　the　lower　amplitude　vibration　significantly.　The　experimental　results　demonstrate　that　the　proposed　controllers　can　suppress　vibration　effectively.　©　Springer-Verlag　Berlin　Heidelberg　2014.