© 2016 IEEE. The proportional derivative (PD) control is the most employed method in the trajectory tracking of industrial robots. In the PD control, the stability is guaranteed when its gains are very large; however, the tracking error does not decrease to zero when the vibration effects are considered. In this paper, a proportional integral derivative (PID) anti-vibration control is designed for decreasing the vibration effects in the displacements of a robotic manipulator. The semi-global asymptotic stability of the introduced strategy is assured.