Abstract
This article presents the main aspects of modeling, design and development of a manipulator type parallelogram 3-DOF for the control of path tracking with open architecture, this model allow easy maintenance and program modification. The design and manufacturing tasks was aided by CAD/CAE/CAM technology. The assembly and commissioning was carried out by the integration of the mechanical and electronic components. The integration and evaluation of the control algorithms during the prototype manipulation was obtained by the kinematic and dynamics models and Lagrange equations of motion. Finally, results of monitoring control paths are present through testing in the joint and cartesian spaces, the results showed the optimum performance of the manipulator under different parameters of control.