Abstract: In this paper constrained viscoelastic layer damping treatments are applied to a planar manipulator which was built as an experimental research device for work in dynamics and control development,as a means of damping out the vibration and enhancing system stability.An experimental method is proposed and undertaken to investigate flexible vibration,residual vibration,and repeatability of the manipulator with viscoelastic damping.These experimental data are then compared with the results of the original manipulator.