Fuzzy tracking control discuss the pure model behavior and ignore the original mathematical model, make the picking robot arm gain accurate perception ability to complex environmental condition, control its velocity and reach smoothly the target position. This paper proposed fuzzy tracking controller algorithm for obtaining the joints position relative to the desired trajectory, which drive stably 3 joints tending to be stable in 1.5s on the conditions of changeable environment, reflecting the strong robustness and stability of the tracking control system, enhancing their positioning and grasping stability to restrain picking robot arm chattering.