Control algorithm of trajectory tracking is of utmost importance to the robotic manipulation precision in their applications, thus, it starts with the design of control law for parallel SCARA robots. This chapter firstly introduces the fundamentals about triple-loop servo control and classical PID and PD controls in brief, based upon which, three classical torque control laws, namely, torque feedforward control, computed torque control and sliding mode control are designed and applied to the illustrative parallel SCARA robot. The control effects are evaluated by observing joint dynamics and tracking errors.