Abstract: This paper studies the precise operation control process of grape picking robot by using virtual reality scene simulation technology. By constructing the operation scene model of grape picking robot in virtual reality environment, the clamping, collision and damage of picking process are carried out for the purpose of robot picking motion flexibility, no collision and no damage to picking objects Virtual simulation of lifting and cutting action. In the simulation results of 20 picking actions in the virtual reality scene, 3 picking collisions occurred and 17 picking succeeded, which shows that using the virtual reality scene for accurate operation simulation and control algorithm test in the design stage can effectively shorten the debugging and optimization time in the development process of the picking robot.