The work in this paper is aimed to investigate the use of a decentralized control system for minimizing vibration of a multi-link flexible robotic manipulator using embedded smart piezoelectric transducers. To achieve this, a nonlinear dynamic model of a flexible robotic manipulator with smart piezoelectric actuators/sensors, is developed based on the co-rotational finite element method. The method incorporates multiple co-ordinate (co-rotational) systems which rotates and translates with each element, so that the geometric non-linearity present in rotating manipulator systems can be dealt with efficiently. The use of piezoelectric actuators and sensors over the flexible links are considered for the application of decentralized control system. Numerical study on a two-link flexible manipulator shows that the developed co-rotational finite element method can be efficiently used to investigate the actuator/sensor location and vibration control performances on multi-link flexible manipulator with relatively complicated motions.