Abstract: A Hexapod platform driven by voice coil motors is used to simulate the micro-vibration environment in space. The response signal of the Hexapod platform contains harmonics when it works at resonance frequencies, resulting in a significant error between the actual output and the desired output. To reduce the harmonic distortion and improve the control performance of the Hexapod platform, an adaptive harmonic cancellation (AHC) algorithm based on the LMS filter is developed. The reference signals of the LMS filter are a sine signal and a cosine signal with the same frequency of the harmonics. Meanwhile, the output signal is directly used as the error signal of the LMS filter. Experimental results show that the proposed approach can efficiently eliminate the harmonic distortion and greatly enhance the control accuracy in both SISO and MIMO cases.