In this paper, a novel 5-Degree of Freedom (DOF) Redundantly Actuated (RA) Parallel Kine-matic Manipulator (PKM) called SPIDER4 is presented. The main purpose of this manipula-tor is to perform machining tasks such as drilling and milling. All the mathematical models including the forward and inverse kinematic models, as well as the inverse dynamic model were developed. Owing to machining tasks require high precision, a RISE Feedfor-ward controller is proposed for desired trajectory tracking. To show the performance and effectiveness of the proposed control scheme, real-time experiments were performed. The obtained results of the proposed controller compared to the standard RISE controller are presented and discussed. They confirm that the proposed controller outperforms the standard one.