Parallel robots presents singular configurations that divide the operational workspace into several aspects. It was proven that such singularities can be crossed under the constraint of a dynamic criterion. However, the development of a controller able to track such trajectories is up to now limited by a restrictive criterion, which decreases the total number of possible trajectories for crossing a singularity. In this paper, by finding a solution to the inverse dynamic model at the singularity locus, we were able to implement a controller in Cartesian space and track a trajectory that crosses a Type 2 singularity.