The invention discloses a robot jitter suppression method, which is characterized in that joints of the robot are controlled separately; for each joint, a robot flexible joint part is indirectly replaced with a two-mass system; a corrected position tutoring and feed feedforward of a motor end are solved according to a two-mass system model, the solved corrected position tutoring of the motor end is used as a new position given signal of the motor end, and the solved corrected speed feedforward of the motor end is used as new speed feedforward of the motor end. According to the robot jitter suppression method provided by the invention, starting from the tutoring sent from an upper computer to the motor, using planning of the trajectory of a load end as the objective, and the original planned trajectory of the upper computer is optimized, thereby achieving the purpose of suppressing tail end jitter of the robot. At the same time, to prevent noise influence of second-order differential inan algorithm implementation process, an acceleration signal generated by the upper computer trajectory planning is utilized to realize adjustment of the position tutoring.