A control system of the two degree of freedom (2-DOF) pneumatic manipulator is designed for picking silk flowers based on S7-200 programmable logical controller (PLC). This system was consisted of two control modes, automatic control and manual control. PLC was implemented to control directional solenoid valves, and to complete functions as making the mechanical gripper open or close, the mechanical arm stretch or shrink and push the sucker and gripper down, and etc. Then the design of its hardware and software is introduced.