To provide a parallel link type carrying apparatus which can exactly position the tip end portions of arms having a panel gripping portion mounted thereon at a target position [X, Y] by means of a correcting means having a small calculation load even when structural members and their arranged positions have errors or the structural members elastically deform by their weight, and further to provide a control method of the same carrying apparatus.

The parallel link type carrying apparatus comprises the panel gripping portion 15, two pairs of link arms 6 turnably connected to the panel gripping portion at their one ends, two slides 4, 5 to which the other ends of the link arms are turnably connected respectively, slide driving devices 11, 12 for moving the respective slides on two straight lines crossing with each other on a vertical plane, and a control unit 20. A correction matrix A of the target position [X, Y] is obtained by the control unit 20 based on the deviation between the target position and the measured position on the X Y coordinates of the panel gripping portion 15. The transformation expression of the parallel link is applied to the corrected target position [Xt, Yt] corrected by the correction matrix. The tip end portions of the arms are controlled so as to be positioned to the positions [p, q] of the slides in the axial directions obtained by the result of the transformation.