Abstarct: In this research, the goal is to use a robust control method to control and trajectory tracking of a delta parallel robot using a higher-order sliding mode control structure. By extracting the inverse kinematic equations through the geometry of the robot and using the method of closed-loop equations, the position of the actuators at any particular point of the robot is obtained; And the direct kinematic analysis is calculated using sphere equations. Due to the additional constraints, the generalized Lagrange method has been used to obtain the dynamic equations. The stability of the system is proven by the Lyapunov method. At first, in the simulation section, for comparison, the linear feedback controller and super-twisting algorithm have been implemented on the Delta robot; And in order to realize the tracking of the robot's path despite the presence of unknown parameters and uncertainties in the dynamics modeling of the robot, a sliding mode control strategy is proposed and the results show that this controller is resistant to disturbances caused by the load as well as dynamics uncertainties. It is durable and reliable. Basically, sliding mode controller is used for all non-linear robots, with high speed and accuracy; And comparing the FL controller with this type of controller, SMC has the best performance in tracking the desired path. The principle of immutability is the inherent characteristic of SMC and guarantees robustness, but sometimes the implementation of some SMCs can have the worst effects due to chattering phenomenon caused of unmodeled dynamics. In the research, we have used a higher order sliding mode controller to solve this problem; which provides higher accuracy in performance and maintains the advantages of classic sliding mode in being resistant and completely eliminates chattering; And instead of acting on the first derivative of system deviations, which is one of the limitations of traditional SMC, it acts on higher order time derivatives of system deviations. In this research, it is assumed that the fixed platform and the moving platform of the robot are always parallel and all the revolutes joints are all located in the same circle. The controllers are simulated in MATLAB/Simulixnk.