Experimental identification and servo velocity-based vibration suppression of a rotating flexible manipulator system were studied in this paper.The transfer function model from the driving signal of the velocity of the servo motor to the stain gauges-based vibration signal of the flexible manipulator was derived, and the model parameters were identified experimentally.Experimental results show that the agreement percentages between the predictive output of the identified model and structural dynamic responses are 78.8% and 89.8%, with the pseudo-random and swept excitation signals respectively.Thus, the feasibilities of the established model and identified parameters were confirmed, and vibration characteristics of the flexible manipulator during rotation were obtained.Then, a servo velocity-based vibration suppression controller was proposed, based on the poles placement method.Locations of the closed-loop poles were determined using the optimal damping ratio of a second order system.And the closed-loop feedback gains were calculated.With the proposed control method, experimental results show that the damping period of the residual vibration of the rotating flexible manipulator system reduced to 3 s, and the magnitude of the 1st natural frequency vibration was attenuated from 77.5 dB to 32.9 dB.As a result, rapid and effective vibration suppression of the rotating flexible manipulator system was realized with the proposed method.