The article analyzed the fruit harvesting robot’s kinematic relation between the target position and the joint angle of the robot, and then a coordinate transformation formula was given. According to the servo control’s features, the fuzzy—PID control method was introduced into the robot servo control. Fuzzy control strategy which can tune PID parameters on-line-self adaptively was adopted to enhance the control system’s dynamic and static performances. Simulative and experimental results validated the rationality and the effectiveness of the design.