Abstract: Based on 6-DOF hydraulic parallel manipulator, the paper presents a MRAcs with interference force complement to lts hydraulic main links.The MRACS only uses system input and output measures,does not use other differential state measures, and the system only uses less reaItime control calculation measures.Therefore, the MRACS can be realized in practical application, The different situation simulation study for the presented M RAcS,the system interference force complement calculation and its realization are intro duced in detail in this paper.Simulation and analysis resuIts show that the MRACS is reliable, stable and accurate.