This paper is focused on the posture control of a 3 degree of freedom (3DOF) parallel manipulator driven by pneumatic muscles (PMDPM). The feedback linearization control and model reference adaptive control are developed to control the posture of the moving platform by changing the pressure inside the pneumatic muscles. The performances of the controllers to track step and sinusoidal reference inputs and their robustness against noise and sudden disturbances are demonstrated in the simulation results.