The work aims to ensure that the packaging palletizing robot of rectangular coordinates can work smoothly, stably and at high speed, avoid the abrupt change of speed and acceleration, and plan the trajectory of robot. Firstly, the kinematic process of rectangular coordinate robot was analyzed. Based on that, the trajectory planning method of S-curve packaging palletizing robot based on polynomial was proposed. The robot control system was designed. The robot was monitored and its parameter was set by the Weinview TK6050IP touch screen. The speed and position control of the robot was realized with SiemensS7-200 PLC and EM253 position control module. Finally, the simulation experiment of the robot motion trajectory was carried out. The simulation experiment results showed that the trajectory planning method could ensure the speed and acceleration of the robot without mutation and ensure the smooth and stable operation of the robot. The control system effectively improves the operation efficiency of the packaging palletizing robot, which is very important for the stable and reliable operation of the robot.