Abstract: The flexible transmission parts cause vibration at the end of industrial robots,which severely reduces accuracy of Carte-sian motion so the adaptive input shaping control strategy is proposed.Servo system model of flexible joint is founded by'twoinertia model+PD control'and vibration characteristic is discussed.It is hard to accurately identify frequency and damping ratio,as aconsequence of noise problem of vibration signal collected during Cartesian motion.Therefore,the adaptive design method of arbitrary delay input shaper based on the recursive least squares method(RLS)is adopted.By performing input shaping on the normal-ized interpolation function of Cartesian trajectory planning,a Cartesian trajectory input shaping method is proposed.The actual performance is replanning the Cartesian velocity without changing the direction.In the vibration suppression experiment,vibration sig-nal energy of linear and arc motion is reduced by up to 77.08%and 31.07%respectively while residual vibration signal energy is re-duced by more than 80%,which is verified that the controlstrategy can effectively suppress the vibration in the Cartesian motion ofindustrial robots.