In order to improve the trajectory tracking accuracy of the end-effector of the packaging manipulator, a 3d trajectory tracking method was proposed. The coordinate data and the cable length of the drawstring displacement sensor in the pre-established 3d coordinate system were obtained. The three-dimensional coordinate data of the moving object was calculated by using the coordinates and the length of the drawing line, and then the three-dimensional motion trajectory of the moving object was formed. At the same time, the structure of trajectory tracking controller and software implementation method based on ARM were presented. The results show that compared with the traditional teaching box, the positioning accuracy can be doubled by this method, and the correlation error can be controlled within 0.3 mm. This method can increase the execution efficiency by about 33%, and improve the execution speed and sorting efficiency of the packaging manipulator. The trajectory tracking method can improve the positioning accuracy and speed of the end-effector of the packaging manipulator, and meet the process requirements of packaging, food, chemical and other industries.