Aiming at the problem of trajectory tracking error and residual vibration of end effector caused by the robot joint flexibility,combined with the simplified dynamic model of industrial robot,a feed forward force/position hybrid control strategy was proposed based on PD feedback control law.The control strategy was based on the feed forward torque compensation control algorithm of the flexible body dynamics model and the post multimode adaptive input shaping algorithm.A simplified dynamic model of flexible body of six axis industrial robot was established,and the dynamic parameters of flexible body were identified without additional joint encoder and peripherals,the dynamic model was rewritten into the torque calculation equation,and the feed-forward torque was calculated and added into the control law for compensation;the desired trajectory used to calculate the feed-forward torque needed to be processed by input shaper,and considered the time-varying problem of industrial robot system,the post multimode adaptive input shaping algorithm was used to shape the desired input displacement signal,so the residual vibration of the end effector was suppressed.The results show that by using the proposed hybrid control strategy,the trajectory tracking error can be effectively reduced and the residual vibration of the robot end effector can be suppressed.