This paper deals with an efficient application of a model-based predictive control scheme in parallel mechanisms. 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. Predictive functional control, computed torque control and PID control strategies are compared in complex machining tasks trajectories. Tracking performance and disturbance rejection are enlightened.