Underactuated　flexible　manipulator　with　redundant　degrees　of　freedoms　is　investigated.　Position　control　method　of　a　single　active　joint　driving　the　passive　joint　is　given.　According　to　the　characteristics　of　nonholonomiclly　redundant　flexible　manipulators,　the　optimal　control　strategy　of　multiple　active　joints　driving　the　passive　joints　is　proposed.　As　the　elastic　vibration　of　flexible　links　can　not　be　eliminated　only　through　position　control,　the　vibration　control　schemes　are　presented　again.　The　simulation　results　show　that　the　elastic　vibration　is　suppressed　effectively.　Therefore,　for　nonholonomically　redundant　flexible　manipulator,　both　position　control　and　vibration　control　are　implemented　successfully,　which　verifies　the　validity　of　the　control　schemes.