A method for controlling a machine comprising: - a frame, - a mobile element driven in relation to said frame along a number of degrees of freedom by a plurality of mechanical transmissions, the number of which is strictly greater than the number of degrees of freedom of said mobile element, said mechanical transmissions being in parallel to each other and each being actuated by at least one actuator comprising: • a body fixed to said frame, • a member for actuating a mechanical transmission, • a position sensor designed to produce a signal, named measured position signal, representing a position of said actuating member, according to which method, for each of said actuators, a signal, named actuator error signal, is produced by comparing said measured position signal of said actuator with a position setpoint signal of said actuator, characterised in that: - said actuator error signals are converted into a mobile element position error signal, named mobile element error signal, by applying data representing the kinematics of said mechanical transmissions; - said mobile element error signal is processed by a processing module designed to produce an effort signal to be applied to said mobile element; - said effort signal is converted into signals for controlling said actuators by applying data representing the kinematics of said mechanical transmissions. - a frame, - a mobile element driven in relation to said frame along a number of degrees of freedom by a plurality of mechanical transmissions, the number of which is strictly greater than the number of degrees of freedom of said mobile element, said mechanical transmissions being in parallel to each other and each being actuated by at least one actuator comprising: • a body fixed to said frame, • a member for actuating a mechanical transmission, • a position sensor designed to produce a signal, named measured position signal, representing a position of said actuating member, according to which method, for each of said actuators, a signal, named actuator error signal, is produced by comparing said measured position signal of said actuator with a position setpoint signal of said actuator, characterised in that: - said actuator error signals are converted into a mobile element position error signal, named mobile element error signal, by applying data representing the kinematics of said mechanical transmissions; - said mobile element error signal is processed by a processing module designed to produce an effort signal to be applied to said mobile element; - said effort signal is converted into signals for controlling said actuators by applying data representing the kinematics of said mechanical transmissions. • a body fixed to said frame, • a member for actuating a mechanical transmission, • a position sensor designed to produce a signal, named measured position signal, representing a position of said actuating member, according to which method, for each of said actuators, a signal, named actuator error signal, is produced by comparing said measured position signal of said actuator with a position setpoint signal of said actuator, characterised in that: - said actuator error signals are converted into a mobile element position error signal, named mobile element error signal, by applying data representing the kinematics of said mechanical transmissions; - said mobile element error signal is processed by a processing module designed to produce an effort signal to be applied to said mobile element; - said effort signal is converted into signals for controlling said actuators by applying data representing the kinematics of said mechanical transmissions. - said actuator error signals are converted into a mobile element position error signal, named mobile element error signal, by applying data representing the kinematics of said mechanical transmissions; - said mobile element error signal is processed by a processing module designed to produce an effort signal to be applied to said mobile element; - said effort signal is converted into signals for controlling said actuators by applying data representing the kinematics of said mechanical transmissions.