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The 6-DOF vibration calibration system based on direct drive parallel mechanisms can achieve high precision and multi-degree-of-freedom motion simulation and calibration, showing promising application prospects. To address the issue of low tracking accuracy of slider positions in the driven joint of the platform, a dynamic torque feedforward compensation analysis was conducted on this mechanism. Firstly, the dynamic model of the mechanism was established by using the principle of virtual work. Then, traditional servo control was done based on motion controller. A control strategy was proposed that combined a fundamental servo algorithm with dynamic feedforward compensation. Experimental torque compensation was conducted on the prototype, verifying the effectiveness of dynamic torque feedforward compensation in enhancing the position tracking accuracy of each driven joint slider and accelerating the response speed of the driven joint sliders. Experimental results demonstrated that by incorporating torque feedforward compensation into the open-loop servo program, the tracking errors of the mechanism during motion can be reduced. Specifically, during single-degree-of-freedom sinusoidal motions with different amplitudes, the tracking errors were decreased by 40.32%, 39.04%, 43.24%, and 48.19%, respectively. Furthermore, performance testing experiments were carried out on the vibration platform. A laser measurement system and data acquisition module were set up on the platform to perform sensor calibration and performance analysis.