The work aims to propose a manipulator positioning control method by taking the pick-and-place parallel manipulator as the research object and combining visual feedback with predictive control, in order to solve the problem of bulk food grabbing of the automatic food packaging machine. The overall design scheme of the visual feedback manipulator was given, including the manipulator body, binocular vision system and control system. The machine vision localization algorithm of moving food on conveyor belt was studied. The predictive control algorithm was introduced into the visual servo control of the manipulator on the premise of considering the visual constraints of the target and the constraints of the manipulator effector. Finally, the positioning accuracy of the manipulator was verified by experiments. The results showed that, the average error could be controlled at 0.7%, which met the requirements of motion pickup accuracy. The proposed control method can meet the requirements of packaging technology and improve the automation degree of packaging process.