Industrial robots are complex dynamic systems with nonlinear，strong coupling and time-varying characteristics.Aiming at the trajectory tracking problem of a six-degree-of-freedom robot，the Lagrange method was used to build the dynamics model of the robot，and an exponential gain iterative learning control algorithm was proposed to control the robot trajectory track.The convergence of the method was analyzed.The MATLAB/Simulink was used to simulate the working trajectory of the robot model，and the test results were compared with the traditional PD-type iterative learning control algorithm.It proves the effectiveness and usability of the control algorithm.