The flexibility of a manipulator inevitably yields vibration at the end effector. In this work, position and vibration control for a flexible robot arm was studied using a separate voice coil type actuator to raise the accuracy and speed of end tip. A flexible robot arm with a tip mass is modeled as an Euler-Bernoulli beam. An $H_$infty$$</TEX> controller is adapted to get a robust control against unmodeled higher-order mode vibration, output sensor noise, and etc. Simulations and experiments show that the modeling of the system is acceptable and robust vibration control is also achieved.