<p>This article introduces an adaptive multi-frequency input-shaping controller (AMFISC) over a broader frequency range to minimize residual vibrations in industrial robotic arms. First, a detailed theoretical analysis of the multi-frequency input shaping algorithms of the system with multiple vibration modes is presented. Building on this analysis, an advanced input shaping method has been developed utilizing adaptive multi-frequencies across a larger frequency range. Additionally, an experiment was conducted to determine the vibration parameters, such as the natural frequency and damping ratio, in the SCARA robot arm. Numerical simulations were then performed for both the input shaping technique and the proposed method using these characteristic parameters. The results demonstrate highly effective vibration suppression with the proposed method, indicating its significant potential for practical robot vibration control. Finally, the proposed control schemes were validated in experimental environments, with their performance evaluated in both time and frequency domains. The experiment results show that the proposed approach greatly enhances vibration suppression of the SCARA robot, reducing the residual vibration by up to 94.41 %.</p>