The work aims to design a food sorting control system based on ADT8940A1 with sorting and grabbing as the research object to solve the problems of high missing picking and wrong picking rate and difficult sorting. In the actual sorting process, the shape of the food to be sorted was diverse, the distribution was messy, and the situation was complex, so the traditional control method was generally difficult to meet the requirements. To overcome the problems of traditional sorting methods, a fuzzy neural network PID control method was proposed through parallel robot control with ADT8940A1motion controller as the core. The maximum grasping speed of the system was 150 times / min. The missing picking rate was less than 0.1% and the false picking rate was less than 0.05%. The design requirement was met. The test results show that the food sorting system designed by PID control has high precision and stable and reliable working state and can meet the requirements of food sorting and packaging, thus it has high market application prospect.