The invention discloses a six degrees of freedom robot motion control method and system. The method comprises the following steps: obtaining an error signal according to target velocity and actual velocity of a BP neural network PID controller; obtaining a measure function according to the error signal; acquiring a proportional element amplification coefficient, an integral element amplification coefficient and a differentiation element amplification coefficient of the PID controller; obtaining a canonical correction term function according to the error signal; correcting various element amplification coefficients according to the measure function and the canonical correction term function to obtain a updated proportional element amplification coefficient, a updated integral element amplification coefficient and a updated differentiation element amplification coefficient; correcting the updated integral element again by adopting an integral saturation mechanism so as to obtain a secondarily updated integral element amplification coefficient; and obtaining the controlled quantity according to the updated proportional element amplification coefficient, the secondarily updated integral element amplification coefficient and the updated differentiation element amplification coefficient. By adopting the method disclosed by the invention, the robustness and the stability of the robotsystem can be improved.