Abstract: In order to reduce the development cost and time, and solve the problems of low control accuracy and poor adaptability of the seedling manipulator in the process of operation, the model of manipulator is established by SolidWorks and imported into ADAMS. The fuzzy PID control algorithm is used to realize real-time dynamic joint simulation analysis for the angle of the manipulator, and the fuzzy PID controller and fuzzy rules are designed. The joint simulation model is established by using MATLAB/Simulink and ADAMS. Taking the step signal as the excitation, the simulation results of fuzzy PID control and PID control show that the response time of PID control is 1.1 s, the response time of fuzzy PID is 0.33 s and the response speed is faster, indicating that fuzzy PID is better than classical PID control. The designed seedling manipulator has good dynamic response and trajectory tracking characteristics; theoretically, it can meet the requirements of practical operation. The results of seedling taking test show that when the seedling taking frequency is 50, 60 and 70 plants/min, the success rates of PID algorithm and fuzzy PID algorithm are 96.09%, 93.75%, 92.96% and 98.43%, 95.31%, 93.75%, respectively, the success rate of fuzzy PID algorithm is higher, which can meet the actual operation requirements.