Aiming at enhanced control effect of fast-movement parallel robots, fuzzy control is designed and integrated into the PD-based torque control. This chapter firstly introduces the fundamental concept and design procedures of fuzzy algorithm, based upon which a fuzzy control law is designed in detail and integrated with the torque feedforward control. Two simulation scenarios, which are based on rigid dynamics and flexible-rigid dynamics of the parallel SCARA robot, respectively, are taken as example to illustrate and evaluate designed control laws. The simulation results of two cases verify the advantages of fuzzy controller compared to the original torque feedforward control.