Abstract: The prototype of a hydraulic 6-DOF parallel robot developed is presented in this paper. Through the analysis of its system characteristics, a fuzzy adaptive PID control strategy with input and output feedforward compensation is put forward. Experiment study is made on the prototype, and the results indicate that, with this control strategy, the asymmetrical characteristics of the system can be greatly compensated, and the response time, movement accuracy and resistance to load disturbance of the system can be improved.