Real- time dynamics sliding mode control in a task space for a 4- dof redundant parallel mechanism is studied. Firstly

in the basic of the Lagrange dynamics model

a novel weighed integral gain exponential reaching law sliding mode control scheme in a task space is proposed to guarantee the system robustness to uncertain parameters and external disturbances by use of the sliding mode. Meanwhile

a negative weighted value is introduced to the integral item of the sliding mode control reaching law in order to reduce the control forces in the initial period and decrease the chattering of the output driving forces effectively on the premise of ensuring the trajectory tracking speed and precision of the parallel mechanism system. Secondly

the stability of the controller is analyzed and proved theoretically by a Lyapunov function. Finally

the simulation experiments of the parallel mechanism dynamics model and control are carried out by using MATLAB.Comparing with a computed torque control and a conventional reaching law sliding mode control

the results show that the established dynamics model is suitable for the real- time dynamic control of the parallel mechanism and the designed control method has the better performance.