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Parallel robot has no friction and clearance, fast response, compact structure, good rigidity, low error accumulation, etc, but there are also many shortcomings in geometric features, such as the movement range of small, poor flexibility, and work space, such as singular configuration, adding redundancy can improve its geometric features. By redundant drive parallel robot working space, flexibility, obstacle avoidance capability and dynamic property has the advantage, therefore the more and more attention, this paper proposes a three degrees of freedom of redundant drive parallel robot control research methods, mainly from the redundant parallel robot kinematics model, the workspace, matlab simulation and its control program development main aspects carried on the thorough careful research.