This paper presents a new controller for parallel robots. The design of the controller is based on the dynamic robot model, and it uses Linear Algebra Theory and Numerical Methods. The controller stability analysis demonstrates that it is globally uniformly asymptotically stable. Simulations and experimental results with an actual 3UPS+RPU parallel robot confirm the feasibility and the effectiveness of the proposed controller. The new strategy allows an intuitive adjustment of parameters, the computational cost is low, and the robot is able to follow the trajectory references closely.