Abstract: A 2-DOF planar parallel robot is studied. The kinematics model is established, and the dynamics model by using Euler-Lagrange formulation is deduced based on it. According to the dynamic model, a computed torque (C-T) decoupling control method is introduced. It is proved that the corresponding Lyapunov function is global asymptotic stable in the ideal and non-ideal estimation with this method. The decoupling control function can be easily got. Associated with the control function and the real parameters of the robot, the Simulink model is established and simulated. The control strategy includes method of C-T decoupling control with traditional PD controller and method of C-T decoupling control with self-adaption controller. The Simulink results indicate that the conclusion of the stability of C-T decoupling control system can be easily found, and the control error is small. The performance of C-T decoupling control with adaption fuzzy controller is better by comparing the output figures. Key words：2-DOF parallel robot；dynamics；decoupling control；fuzzy control

Key words: 2-DOF parallel robot, decoupling control, dynamics, fuzzy control