PaRoLa - Parallel Robotics Laboratory








PaRoLa is a Java web-based tool for simulating the kinematics of parallel and hybrid serial-parallel robots. Its features include:

  • Simulation of the direct and inverse kinematic problems of parallel manipulators
  • Graphical representation of the singularities and workspace of parallel robots
  • Trajectory planning and singularity avoidance
  • Graphical representation of the simulated robots
  • Remote control of a real parallel robot
  • Simulation of the control of parallel robots

Parallel robots

PaRoLa allows you to simulate parallel robots. You can simulate them in embedded Java applets or downloading the jar files.

The tool is continuously updated with more robots, functionalities, and improved algorithms. The currently implemented robots are the following. Click on the desired robot to start the simulation.

Remote robots

Climbing robots


  1. Inverse Kinematic Analysis of a Redundant Hybrid Climbing Robot
    Adrián Peidró, Arturo Gil, José María Marín, Óscar Reinoso
    International Journal of Advanced Robotic Systems, Vol. 12 (November 2015)
    DOI: 10.5772/61748

  2. Performing nonsingular transitions between assembly modes in analytic parallel manipulators by enclosing quadruple solutions
    Adrián Peidró, José María Marín, Arturo Gil, Óscar Reinoso
    ASME Journal of Mechanical Design, Vol. 137 (12), p. 122302 (October 2015)
    DOI: 10.1115/1.4031653

  3. Kinematic Analysis and Simulation of a Hybrid Biped Climbing Robot
    Adrián Peidró, Arturo Gil, José María Marín, Yerai Berenguer, Óscar Reinoso
    Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO-2015), pp. 24-34
    DOI: 10.5220/0005515800240034

  4. A Web-based Tool to Analyze the Kinematics and Singularities of Parallel Robots
    Adrián Peidró, Arturo Gil, José María Marín, Óscar Reinoso
    Journal of Intelligent and Robotic Systems (First published online: March 4, 2015)
    DOI: 10.1007/s10846-015-0220-4

  5. Implementation and Assessment of a Virtual Laboratory of Parallel Robots Developed for Engineering Students
    Arturo Gil, Adrián Peidró, Óscar Reinoso, José María Marín
    IEEE Transactions on Education, Vol. 57 (2), pp. 92-98 (2014)
    DOI: 10.1109/TE.2013.2276951

Visit also

  1. ARTE (A Robotics Toolbox for Education): Simulate the 5R, 3RRR or Delta robot in a Matlab-based environment. Also, ARTE allows you to simulate any industrial robotic arm with realistic graphics inside Matlab.
  2. ARVC (Automation, Robotics and Computer Vision group): Visit our research group.


Adrián Peidró, Arturo Gil, José María Marín, Oscar Reinoso

Please, send suggestions to adrian.peidro at

Java applets created with Easy Java Simulations

PaRoLa by Adrián Peidró is licensed under a Creative Commons Attribution-NonCommercial 3.0 Unported License