The expectation is that your sub will be used on a carpeted floor, so not only is it OK you could even say it's recommended. AAMOF, manufacturers will often stipulate you place their sub on a carpet remnant if you have hardwood floors.
As mentioned though, a riser or isolator would be a wise choice for concrete because that does have a tendency to alter the sound. They're a good idea anyway, but perhaps even more so for concrete.