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The method of planning acceleration is discussed to restrain the residual vibration of flexible arm.Based on the built mathematical model of the flexible arm,the equations of vibration with acceleration,vibration frequency,damping and time are obtained theoretically.According to the vibration frequency and damping,the suitable acceleration is executed experimentally to the flexible arm at the corresponding time.The result shows that this way can give rise to good effect to restrain the residual vibration.