This paper analyses several factors that cut down the control performance of robot position control at first. Then it investigates the different effect of acceleration positive and negative feedback on these disadvantageous factors, and presents a method of integration acceleration feedback to improve the control performance of robot position. This method, which can supply the lack of the damping of the system prodigiously, is the effective approach to the high speed and high precision position control of the robot. And the effectiveness of this approach is verified by both simulation and experiments on the PUMA 560 manipulator.