In order to eliminate the motion deviation which is caused by assembling errors of PZT actuators parallel setup miniature robot and inconsistent characteristics of PZT,a method based on actuating signal compension is proposed to control the motion of miniature robot in this paper.Experiments were designed on the basis of detailed analysis of stick and slip motion principle.By taking several actuating signal input differences of the left and right PZT actuators,corresponding lateral motion variations were obtained.A least squares curve fitting was used to analyze the experimental data and determine the input compensation value of the robot.The experimental results show that the robot's lateral motion deviation has been reduced to 6.1% of the original one after joining the input compensation.The motion control based on least squares method was efficient.