Abstract: It first completes the design of the control system of the manipulator of the picking robot from the overall scheme, the visual positioning system and the motion control system, then designs the target object recognition and grasping strategy based on image processing technology, finally studies the control method of the trajectory of the manipulator of the picking robot based on RRT algorithm, and realizes the motion control and target grasping system of the manipulator of the picking robot. The picking experiment results show that the system has a high accuracy in apple recognition and positioning, and the successful picking rate has reached 100%, which confirms that the system has a high accuracy, and has certain practical significance for the realization of autonomous picking by picking robots.