The work aims to improve the positioning accuracy of the Cartesian coordinate handling robot, and ensure that the robot can move along the predetermined path. The working principle of Cartesian coordinate robot was introduced. Based on fuzzy control theory, a trajectory tracking control algorithm for Cartesian coordinate robot based on fuzzy PID was proposed, and it was applied to the trajectory tracking control of robot. The simulation and experimental results showed that, the robot controller based on fuzzy PID could ensure the motion of the robot along the predetermined path, and the trajectory tracking error of the robot could quickly converge near zero. The proposed trajectory tracking method had better anti-interference ability and robustness. The proposed method can obviously improve the path tracking ability of the Cartesian coordinate robot, and it has reference value for improving the motion precision of the robot.