In parallel mechanism kinematics controller, the complex nonlinear dynamics relationships are ignored, so the actual performance of the controller is often limited. For this, to improve the operation accuracy of parallel robot, aiming at the 2-DOF parallel mechanism, through establishing the dynamic mathematical model of mechanism and stiffness matrix, a computing torque controller was designed. Because in the model based on computing torque controller, nonlinear compensation was considered, so the control quality was enhanced greatly. The designed controller was applied to the 2-DOF parallel mechanism, simulation and experimental results verified the correctness and effectiveness of the algorithm.