Abstract: It firstly introduces the requirements of picking robot and the overall framework of the system, then establishes the motion model and Simulink simulation platform of the picking robot, and finally uses Simulink simulation tool to analyze the motion of the picking robot. The simulation results show that the picking robot can change its forward direction according to the information acquired by obstacle sensors and industrial cameras, and realize obstacle avoidance and steering functions. It verified the rationality and operability of the motion mode of the picking robot by Simulink.