The work aims to improve the production efficiency of packaging goods and improve the stability, reliability and movement accuracy of right angle packaging and handling robot. According to the mechanical structure and function requirements of the four-degree-of-freedom Cartesian coordinate robot, a control system based on ARM embedded right angle packaging and handling robot was designed. The hardware of the control system was composed of the main controller ARM, FPGA and teaching device ARM. The main controller ARM communicated with the FPGA, teaching device ARM and servo system through the serial port. An improved S-curve interpolation speed control method was proposed based on the above-mentioned hardware structure. The experimental results showed that the positioning accuracy of the right angle packaging and handling robot under the control system was at ±0.5 mm, and fully met the design requirements. The control system can meet the actual operation demand and has improved the packaging efficiency and reduced the cost.