The invention provides an automatic stacking robot control system. The automatic stacking robot control system comprises a demonstrator module, a robot program language analysis module, a motion control module, an IO module and a motor decoding module; the demonstrator module comprises an input unit and a display unit; the robot program language analysis module analyzes robot languages to form corresponding syntax trees and symbol tables; the motion control module comprises a communication unit and an algorithm unit; the communication unit is used for data exchange between the motion control module and the other modules; the algorithm module is used for planning a motion trajectory of a robot in real time; the motor decoding module converts trajectory interpolation data calculated by the algorithm unit to motor output; and the IO module is used for signal interaction between the robot and other equipment. Users only need to input stacking related data according to the stacking scene, so that the robot can automatically generate robot programs meeting the stacking demands; and a real-time efficient robot trajectory planning algorithm is provided to guarantee the robot trajectory precision.