The paper aims to propose a planning method of packaging robot trajectory curve based on improved s-curve to improve the motion precision of packaging handling robot. Firstly, the technological requirements of packaging handling robot were analyzed. Taking the palletizing robot as the research object, the trajectory planning of the palletizing robot was mainly discussed. To further improve the operation efficiency of the robot, the time required for the whole motion process was optimized based on the genetic algorithm. Finally, the experimental platform was built to conduct relevant experimental research. The experimental results showed that, based on the trajectory planning method, the repetitive positioning accuracy of the stacking robot could reach 0.5 mm; and the movement process had no abrupt changes in speed and acceleration; and the robot ran smoothly. The control system effectively improves the operation efficiency of the packaging robot, which is of great significance for stable and reliable operation of the robot.