| This paper mainly studies the experimental prototype of hydraulically actuated 6-DOF parallel robot that developed by Yanshan university. Firstly, the structure, present situation of 6-DOF parallel robot and its application prospect are introduced. Now the research on dynamics of parallel robot is not sufficient and its dynamics model is too complex to study for control theory and control engineering scholars. To this end, using Lagrange method, this paper deduced the dynamics model of parallel robot in detail and set up a Lagrange dynamics model of 6-DOF parallel robot with simple and universal form, which shows the dynamics characteristics fully. Moreover, the same structure as serial robot's makes the maturely serial robot control methods can be adopted to parallel robot. From the view of real time request, a multi-processor method to do parallel operation that can reduce operation time greatly is presented, thus it lays a good foundation for practice. It also will impact on the control effect for error during the system coordinate conversion resulted in the uncertainty of robot system parameter. Using estimated Jacobian matrix, a kind of PID controller is proposed in this paper and simulation result shows the expected control effect. The most robot controller require all-state feedback while the velocity feedback is hard to realize, point to this, we replaced the actual velocity signal with observed velocity to achieve the expect control effect. In addition, it's impossible to attain an accurate modeling in view of increasingly complex system. Fuzzy control do not require system model and adaptive control do well with system uncertainty, so it will bring better control effect and testify the asymptotic stability as a result of adaptive control combined with fuzzy control, at the same time, it can introduce to the motion control of 6-DOF parallel robot. Simulation result validates its effectiveness.
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