A input shaping control algorithm is provided for vibration suppression of rigid-flexible coupling systems with large overall motion.For the sake of describing actual dynamics of those rigid-flexible coupling systems,a first-order approximation dynamic model was presented.The second-order coupling terms was included in the longitudinal deformation.The modal characteristics of the flexible beam in rigid-flexible coupling system was different from that of the beams in structural dynamics in large overall motion.Considering the differences,a robust multiple-mode input shaper was designed.Simulation results show that the presented control strategy suppresses the beam’s vibration successfully during attitude maneuver.