In this paper, a technique to improve the accuracy of multi-axis robot manipulators is addressed. The manipulation of flexible loads and/or the inherent flexible structure of the manipulator induce undesirable vibration at the load/end-effector level which result in motion inaccuracy. The addressed study gives better insight into the ability of the jerk-limited profile along the time synchronization to reduce the residual vibration and guarantee a precise tracking of the prescribed trajectories. For online filtering shaper, a proper compensation scheme has been put forwards in order to achieve a consistent synchronization between the different axis trajectories of the manipulator. The results of simulations have shown the effectiveness and the feasibility of different approaches for industrial robot applications.