Abstract: Modeling and controlling are very important issues for flexible manipulators. Many researchers have put much more efforts on studying the two problems. Due to the properties of high-nonlinear, tight-coupling and time-varying, dynamic modeling accurately is actual focus. Many control strategy for flexible manipulators have been formed with the development of the system and control theory. This paper introduces the very important works by the researchers in this field, and especially compares the advantages with disadvantages in the two aspects of modeling and controlling respectively. At last, this paper proposed the future direction to research on the modeling and controlling for flexible manipulators.