Parallel robots are robots with closed kinematics structure in which the
links are connected by joints. Although the parallel robot has a complex
dynamic structure, and is difficult to design and control, but it has some
outstanding advantages over the serial robot: high load bearing capacity,
high rigidity due to configuration. They can perform complex operations and
operate with high accuracy. Therefore, study on the problem of dynamics
and control of the parallel robot in order to take advantage of it is a scientific
and practical matter.