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This paper analyzes the transmission structure of a kind of four DOF palletizing robot, and constructs the kinematics coordinate system. According to the production characteristics of palletizing, the point-setting method is used for trajectory planning, that some points are determined through teaching method directly, the remaining points are obtained by the forward and reverse kinematics solving. In order to reduce the complexity of solving, the solution in the three-dimensional coordinate system is first decomposed into two plane coordinate system, and then solved separately, finally integrated together. PLC is used as controller in this system, each axis is driven by AC servo system, and the origin of each axis is determined by return-to-zero-point instruction. According to the target point coordinate, the driving pulse numbers and frequency of each axis are calculated in real time, the linkage of all axises is realized by the absolute positioning method. The practical results show that the calculation speed and the real-time performance of the system are improved due to the reduction of the complexity of the solution. Compared with the relative positioning method, absolute positioning method avoids the accumulated error and improves the accuracy of motion.