Abstract: This paper presents an experimental study of a Model Predictive Control scheme (MPC) for active vibration damping in flexible-link robotic manipulators (FLM). The prediction capability of the controller is based on a very accurate FEM dynamic model of planar FLMs. Experiments are performed on a laboratory prototype of a singlelink mechanism affected by gravity force. Results show that the proposed controller achieves a good position tracking performance and an effective vibration suppression for wide range movements. Good performance are confirmed trough the comparison with a classical controller.