An　active　control　methodology　is　presented　for　improving　the　dynamic　performance　of　flexible　redundant　robotic　manipulators　featuring　piezoceramic　actuators　and　strain　gage　sensors.　The　state-space　expression　of　the　discrete　linear　time-varying　dynamic　system　is　developed　firstly.　The　stochastic　optimal　control　scheme　is　proposed　which　includes　a　LQG　feedback　control　law　and　a　Kalman　Filter.　Finally,　a　planar　3R　flexible　robotic　manipulator　with　only　one　degree　of　redundant　freedom　is　utilized　as　an　illustration　example.　The　vibratory　response　of　the　manipulator　is　suppressed　rapidly　and　significantly.　The　simulation　results　prove　the　validity　of　the　method.