Aiming　at　the　errors　of　compliant　parallel　robot,　a　study　on　the　motion　planning　and　trajectory　tracking　of　robot　system　was　presented　to　improve　the　overall　performance.　According　to　the　performance　requirements,　the　structural　parameters　of　compliant　joint　were　designed.　The　characteristics　of　compliant　joint　were　analyzed.　The　analysis　model　and　the　kinematic　equation　were　obtained.　Aiming　at　the　length　errors　of　links　made　by　axis　drift,　a　numerial　method　for　determining　the　actual　length　of　drive　and　driven　links　was　proposed.　Based　on　the　radial　basis　function　(RBF)　neural　network,　a　model　approximation　control　method　was　designed　to　compensate　the　vibration　and　the　parameter　perturbation　errors　of　parallel　robot　system　for　tracking　the　desired　trajectory.　The　virtual　simulation　model　of　compliant　joint　parallel　robot　system　was　estalished　by　SolidWorks,　ANSYS,　ADAMS　and　Matlab/Simulink.　The　simulation　results　show　that　the　errors　of　end-effector　trajectory　without　compensation　of　compliant　joint　errors　can　be　reduced　by　84%　based　on　the　proposed　motion　planning　and　control　method,　which　is　effective　to　improve　the　operating　accuracy　of　compliant　joint　parallel　robot　system.　©,　2015,　Chinese　Society　of　Agricultural　Machinery.　All　right　reserved.