DC servo motor driven parallel robot inverse kinematics solution of 3-RPC was analyzed. Its trajectory planning was done. The conventional sliding mode control and fuzzy sliding mode control were designed, and simulation model was established. Moreover the desired motion of trajectory tracking of each branch was completed. Simulation results show that the gain sliding mode control with adaptive fuzzy sliding mode control has higher accuracy than the traditional one, response time is significantly faster, and more effective in weakening the chattering phenomena in control.