The work aims to design a kind of packaging and sorting control system based on parallel robot regarding the problem of low efficiency and sorting accuracy in food production and packaging. According to the structure of automatic sorting system of robot, an image deduplication algorithm based on time and workpiece position was used to remove duplicate information. In order to improve the grasping precision, a position tracking controller was designed based on PID algorithm. The object position could be judged and parallel robot terminal actuator could be adjusted in real time, so as to realize the target object's dynamic tracking and grabbing. Combined with industrial control machine and motion control card, the control system was built and experiment research was carried out. In the experiment, the fastest sorting speed could reach 120 times/min, the leakage rate was 0 and the false catch rate was less than 0.2%. The proposed control system has higher stability and accuracy, which can meet the real-time requirement.