An importance of Industrial robots have been increasing in many manufacturing firms to maintain quality and productivity. In this paper a fuzzy pid based trajectory tracking of robot manipulator for different structures is proposed which make use for different process with minimum error and these scenario are analyzed using a dynamic robot model. The simulation of fuzzy-pid based control of 6DOF industrial robot shows the better performance of the orientation of the end effectors and joint angular parameters for different structure when compared with the pid controller.