The problem of dynamics model error and uncertainty outside interference of 6DOF parallel robot, a robust trajectory tracking control strategy of parallel robot based on dynamics compensate was proposed. The robust control law of parallel robot via Lyapunov method based on the full study of dynamic model was got, a robust trajectory tracking control method was designed and the inner loop was compensated by inverse dynamics and the outer loop was controlled by PD, the robust controller of parallel robot was designed, the trajectory tracking control of the system was simulated via MATLAB. Simulation results prove that the trajectory tracking error uniformly and ultimately bounded in case of periodic interferential signal, and improve the robust stability of closedloop system to a certain extent.