Vibration becomes a major control issue as industrial robots get lighter and slimmer. Proportional- Integral-Derivative (PID) control is simple and easy to regulate the motion of robots. If gains of PID can be tuned precisely for the given purpose, it will be more beneficial than heavy and complicated control algorithm. The paper introduces the feasibility of PID tip position control to suppress oscillation at the end of the effecter (EOF) by experiments and leads to controller synthesis and design for better performance.