parallel kinematic robot and process control of this robot.

An industrial for moving an object in space comprising robot: - a platform (16) arranged for carrying the object, - a first arm (7) arranged for influencing the platform in a first movement, comprising a first actuator ( 1, 4) and three struts (10, 11, 12), each link having an outer joint connected to the platform and an inner joint connected to the first actuator, - a second arm (8) arranged for influencing the platform in a second movement comprising a second actuator (2, 5) and two straps (13, 14) each link having an outer joint connected to the platform and an inner joint connected to the second actuator, and - a third arm (9) arranged for influencing the platform in a third movement, comprising one link (15) having an outer joint (15b) connected to the platform, wherein at least one of said straps (10, 11, 12, 13, 14, 15) is arranged with length adjustable and includes a linear actuator (10c, 13c, 14c, 15c) for controlling the length of the link.