The focus of this thesis study is to model and control a parallel robot manipulator located in Rasim Alizade Mechatronics Laboratory (Izmir Institute of Technology Mechanical Engineering Department). The purpose of this robot is to manipulate heavy payloads. It is considered as the base part of a hybrid manipulator. This thesis study deals with a 3-RRS parallel manipulator with 3 identical limbs. Each limb comprises two parallel revolute joint axes. The manipulator has a base and a moving platform which are in the shape of equilateral triangles. The mobile platform of this manipulator has 3-degrees-of-freedom: it can rotate around x- and y-axes and translate along the z-axis. To obtain the mathematical model of the parallel manipulator, firstly the mobility analysis is performed. Then, a constraint analysis is performed to obtain the dependent pose parameters of the moving platform in terms of the independent parameters. Following that kinematic, singularity, workspace and inverse dynamic analyses are performed. To validate the mathematical model of the PM, several simulations are run in MATLAB/Simulink R environment. Once the mathematical model is validated, the control studies are carried out. The motion of the 3-RRS PM is controlled by activating stepper motors with two different controllers (a CNC controller and a PCI card). To obtain a desired motion of the moving platform, firstly the desired task space coordinates of the moving platform are transformed into joint space coordinates using inverse kinematics. With the CNC controller a trapezoidal velocity, with the PCI card a trapezoidal jerk profile is generated. To test the control over the PM, 3 magnetic encoders are attached to the shafts of input links at each limb. Furthermore, a 3-axis gyroscope is attached to the center of the moving platform to track its rotational trajectory.