I.Ca.Ro. (Innovative Cartesian Robot) is a prototype robot with an innovative parallel architecture developed by the Machine Mechanics Group. The kinematics used gives the mobile platform 3 degrees of freedom of pure translation and is therefore of great interest for a wide range of applications. Among the most interesting performances are the vertical thrust of 4300 N , the maximum speed and acceleration of 1.06 m/s and 9 g in the vertical direction, respectively. The control system is implemented on a dSPACE board: PID position control currently allows the terminal to be controlled along classical trajectories, while active impedance control allows the manipulator to interact with the external environment.