The end vibration of 6-DOF industrial robot joints is caused by the insufficient stiffness of the transmission device,the traditional notch filter is usually used to solve this problem.However,the coupling between filter parameters makes it difficult to adjust filter parameters quickly.Therefore,a notch filter with parameter decoupling was designed based on the established double inertia load model of industrial robot.The transfer function of the traditional notch filter was analyzed,and the pole and zero cancellation method was used to decouple the notch filter parameters.The notch filter center frequency,width and depth were taken as the notch filter parameters directly.Finally,Fourier transform and logarithmic decay method were used to quickly adjust the parameters of the improved notch device,so as to suppress the end vibration of industrial robot.A 6-DOF experimental platform for industrial robots was built.The results show that there is no parameter coupling in the parameter decoupling notch filter,and the parameter adjusting is convenient;compared with no filter,the positioning vibration of industrial robots can be reduced by 78.5%， which proves that the improved parametric decoupled notch filter is feasible and effective in suppressing the positioning vibration.