Journal of Electronic Systems Xibao Sun, Xiuli Zhai 14 4 2024 https://doi.org/10.6025/jes/2024/14/4/117-123 https://www.dline.info/jes/fulltext/v14n4/jesv14n4_1.pdf This paper aims to explore a new control system optimization algorithm that combines PLC controller with computer image processing technology to enhance the control performance of a harvesting robotic arm. The algorithm autonomously selects the optimal picking sequence based on the collected images of fruits, significantly reducing the end-effector’s operation time and greatly improving work efficiency. By applying the particle swarm algorithm, we compared the distance of the robot’s moving tail and the picking accuracy in an actual scenario of harvesting bell peppers. It was found that the application of the particle swarm algorithm can greatly improve the positioning and recognition accuracy of fruit trees and substantially reduce transportation distances, thereby significantly enhancing work efficiency.