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In order to improve the cooperative control performance of the agricultural harvesting robot and reduce the collision probability of the robot, the D-H method is used to optimize the design of the robot cooperative control system. Modify the position, torque and collision sensor equipment, optimize the motion cooperation controller and driver, adjust the system communication module structure, and complete the optimization of the hardware system. The D-H method is used to construct the mathematical model of the agricultural harvesting robot. Under this model, the sensor equipment is used to realize the quantitative description of the robot's real-time position and posture. Through the simulation of the robot's picking process, the robot's motion cooperation tasks are assigned. From the aspects of position and posture, the robot's motion cooperation control objectives are determined. The actual force of the robot is solved through force analysis, and finally the control quantity is calculated, Realize the cooperative control function of agricultural harvesting robot. Through the system test experiment, it is concluded that compared with the traditional control system, the control errors of robot position, attitude angle and force are reduced by about 40 mm, 0.2 ° and 1.2 N respectively. Under the control of the optimized design system, the number of robot collisions is significantly reduced.