To investigate the energy-efficiency collaborative optimization mechanism of excavator robots under typical operating conditions, this paper establishes a co-simulation platform integrating the mechanical system, hydraulic system and trajectory tracking control system of excavator robots for three typical working conditions. Quintic polynomial interpolation is used for trajectory planning, and fuzzy PID (F-PID) is adopted for controller design. Based on the principle of trajectory tracking, a distributed hydraulic power unit drive circuit is proposed. Meanwhile, an integrated synergistic optimized particle swarm optimization (ISO-PSO) algorithm is proposed to optimize the parameters of the F-PID controller, and a multi-index collaborative evaluation model is further established to evaluate the performance of control strategies. Simulation results indicate that the comprehensive multi-index values of the lower boom, upper boom, arm and bucket optimized by the ISO-PSO algorithm are significantly decreased under all three working conditions. Taking WC-I as an example, compared with the conventional proportional-integral-derivative (PID), F-PID, and PSO-optimized F-PID, the average multi-index comprehensive values based on ISO-PSO-optimized F-PID are reduced by 63%, 54%, and 30% for the lower boom, respectively; 63%, 56%, and 38% for the upper boom, respectively; 64%, 56%, and 30% for the stick, respectively; and 41%, 34%, and 12% for the bucket, respectively. Finally, an experimental verification system for trajectory tracking control of excavator robots is constructed based on electromechanical–hydraulic integrated modeling and the co-simulation platform, demonstrating the feasibility of the proposed system.