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A new immune PID controller is designed for a vertical-joint robot which is 6 degreed of freedom. Firstly, the experimental robot system has been set up. The PID controllers of robot joints are designed. Then the immune clone select algorithm (ICSA) is researched and used to set the PID parameters on line, which are the proportional coefficient, the integral coefficient and the differential coefficient. In the end of the paper, several experiments are performed to test the controllers. The simulation results show that compared with the traditional GA PID controllers, immune PID controllers have faster respond speed and less overshot, which can meet the need of robot control.