Tripod robot system can replace the manual to complete industrial control action simple but repetitive work, such as in the industrial production line of the sorting work. In the actual control, how to quickly and accurately identify the color and shape of the object, at the same time in the shortest time to place it in the specified location, is an urgent problem to be solved. Tripod robot control system based on improved Hamiltonian path planning algorithm , combining the corner detection and corner filling algorithm can accurately identify the shape of the object; using the greedy algorithm to realize the local optimal solution, a dynamic programming algorithm to achieve the global optimal solution, solves the problem of sorting in the shortest time. Experimental results show that the system can achieve the sorting of objects accurately and efficiently.