This paper presents an efficient application of a model based predictive control scheme in parallel robots. A predictive functional control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Three control strategies are compared (PID, computed torque control and predictive functional control) in complex machining tasks trajectories. Tracking performance and robustness are enlightened.