Abstract: An open CNC system of 3TPS hybrid robot based on the Clipper controller was proposed according to the characteristics of motion performance and structure of 3TPS hybrid robot. To solve the key questions of the angle coupling swing head with rotary table and variant of tool edit position by rotary table motion， a mathematical model of inverse kinematics position was established for the hybrid robot. The model was transformed to the position motion control algorithm based on the hardware platform， and the experiment of spiral trajectory was conducted on the sphere surface. The results showed that the control system can satisfy in control command of robot， the kinematics model and control algorithm are accurate and reasonable.

Key words: 3TPS hybrid robot, Clipper controller, inverse kinematics, trajectory, modeling