To obtain high positioning auccuracy for a long, flex bleman Ipulator, residual vibration must be removed from the tip motion. But it is difficult to control the vibration of low frequency. There are open-loop and closed loop methods in the elimination of the residual vibration. We inroduce input shaping technique has been used as a simple open-loop method of controlling the residual vibration of a flexible manipulator. Design of input shaper in the continuous time domain is complicated. This paper presents a new technique that designs input shaper in the z-domain and analyzes input shaping method in the z-domain. This technique is simple and easy to design input shaper.