Much effort has been reported in end-effector positioning of flexible-link manipulators through actuation from the motors at the joints. In this paper, utilization of sensors and actuators along the links are investigated. Specifically, piezoelectric ceramics are considered since they may be utilized both as sensors and actuators. Furthermore, a single piece of the piezoceramic can provide simultaneous sensing and actuation. Experimental setups have been developed at the Control/Robotics Research Laboratory (CRRL) to study modeling issues and control design approaches for flexible link manipulators with embedded (or surface-mounted) piezoceramics. The addition of piezoceramics will allow a higher level of control for vibration damping. It will be shown that piezoceramics substantially reduce the vibration of the arm and hence improve the end-effector positioning of the manipulator. The advocated approach for control design is decentralized frequency shaping.