Abstract: To solve the configuration identification problem of mobile 6-DOF parallel mechanisms, the absolute coordinates of an arbitrary measuring point were measured under various configuration conditions, and a system of kinematics equations was built and solved optimally to identify the configuration parameters of a parallel mechanism at an unknown location and compute the coordinates of the measuring point. The adjustment value of each actuator can be obtained according to the target coordinates of measuring point. Consequently the motion control of parallel mechanism can be performed. The redundant equations were solved by using Trust-Region Dogleg algorithm，and the validity of this method was confirmed by experiment. The simulation and experiment show that the identification accuracy of measuring point is higher than that of parallel mechanism location. When the movement error of the parallel mechanism is no more than 0.02mm, its positioning error in the absolute coordinate system can be limited within 0.3mm using this method.

Key words: automatic control technology, 6-DOF, mobile parallel mechanism, configuration identification