The work aims to improve the palletizing robot operation accuracy and control system generality, so as to ensure the productivity of packaged items. On the basis of analyzing the basic structure and working procedure of the packaging palletizing robot, a palletizing robot control system was designed based on ARM. A Hough-chain code visual identification algorithm was proposed. It could be used to improve the stacking accuracy and meet the demand of visual function. The effectiveness of the described control system was validated by the origin location and repeated positioning experiments. The experimental results showed that the packaging palletizing robot positioning accuracy was high. The positioning error of the origin was less than 0.20 mm, and the repeated positioning error was less than 0.8mm. Therefore, it could fully meet the design requirements. The control system can meet the demand of practical operation, which is of great significance to improve the packaging efficiency and reduce the cost.