The invention discloses a robot joint tail end residual vibration restraining method based an input shaper. The robot joint tail end residual vibration restraining method based the input shaper comprises the steps that firstly, the undamped inherent frequency omega0 and the damping ratio zeta of a robot system are obtained; secondly, a linear programming problem mathematic model about the pulse amplitude parameter of the input shaper is established; thirdly, a pulse amplitude expression is solved through a lagrangian multiplier method, and the optimal solution of the pulse amplitude is workedout through iteration; fourthly, the optimal solution of the pulse amplitude and the pulse generation time are combined to form the control error optimization input shaper; and fifthly, a reference signal and the control error optimization input shaper are subjected to convolution operation, so that a novel shaping signal is obtained, and after a predicted path is planned for the novel shaping signal, the system is driven by the signal to restrain robot tail end residual vibration. According to the robot joint tail end residual vibration restraining method based the input shaper, the robustness of the input shaper is enhanced, and a process control error and a positioning error are minimized; and the predicted path is planned for the shaped signal, and thus the system lag time caused by input shaping is compensated and reduced.