The work aims to design an optimal trajectory planning method for time and impact of flower packaging manipulator with the packaging manipulator as the research object to improve the degree of automation of flower packaging and solve the problems of moving impact and low execution rate. The joint curve was constructed by using the quintic b-spline interpolation function. The improved genetic algorithm was used to optimize the manipulator's motion process, which could not only improve the efficiency of the manipulator but also ensure that there would be no impact during the operation. By improving penalty function and adaptive crossover and mutation probability, inequality constraints and local optimal problems were solved. In addition, the motion control system of the flower packaging manipulator was designed, including the controller based on STM32 chip and the touch screen control interface. Through simulation and experiment to verify the effectiveness of the method, the results showed that:the execution efficiency of the packaging manipulator was increased by about 10%. The grasping speed could reach 60 times/min. The manipulator grasped fast, worked smoothly without obvious impact problem. The trajectory planning method and control system can improve the control performance of the packaging manipulator and meet the requirements of flower packaging and sorting.