Aiming at the research status of trajectory planning for large truss robots used in warehouse, the traditional quintic polynomial is optimized, and a quintic polynomial trajectory with the maximum speed and acceleration of motor as constraints is designed and planned, and the mathematical model is obtained. In order to meet the control accuracy requirement of the truss robot taking objects, a parameter adaptive fuzzy Proportion Integral Derivative (PID) control strategy was designed and used to track the planned trajectory in experiment. The results show that the control method can obtain better path following results, and can effectively improve the motion accuracy of truss robots, which meets the practical requirements. It has certain guiding significance for similar engineering research.