At present, the main nonlinear factors that lead to the trajectory tracking error of multi-axis industrial robots are the joint nonlinearity on each axis and the dynamic coupling effect between different axes. Therefore, a motion control method for industrial robots is proposed, which considers the joint nonlinearity in a series of two-link manipulators. The kinematics and dynamics model of the manipulator was constructed, the nonlinear stiffness and friction of the connecting rod were directly identified as joint nonlinearity, and a parametric modeling method was proposed. The validity of the method was verified by numerical simulation and experimental comparison. At the same time, two control schemes which identified the dynamics model, the feedback closed-loop control with variable notch filter and two-degree-of-freedom (2-DoF) control with dynamic feed-forward compensation, were adopted to control the motion of the mechanical arm. The experimental results show that compared with the conventional Proportion Integral (PI) trajectory tracking control method, the control scheme proposed reduces the adjustment time, maximum path error and overshoot. The study shows that the control scheme can effectively suppress the residual vibration, improve the motion stability and track tracking accuracy of the mechanical arm.