PaRoLa - Parallel Robotics Laboratory


PaRoLa is a virtual laboratory for simulating the kinematics and control of closed-chain mechanisms, especially parallel robots. Its features include:

  • Simulation of the direct and inverse kinematic problems
  • Visualization of the singularities and workspace of the mechanisms
  • Possibility of changing the design parameters of the mechanisms and see its effect on kinematics
  • Simulation of the closed-loop control of the mechanisms
  • Graphical animation of the simulated mechanisms and high degree of interactivity

Implemented mechanisms

To use PaRoLa, you may need to install or update Java Runtime Environment in your computer (

After that, you can download a Java applet (.jar file) and directly run it, for each of the following mechanisms:

Authors and License

PaRoLa has been created by Adrian Peidro and the members of the Automation, Robotics and Computer Vision Lab at Miguel Hernandez University (Spain)

Contact: Dr. Adrian Peidro (apeidro at

Java applets created with Easy Java Simulations

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Visit also

  1. ARVC (Automation, Robotics and Computer Vision group): Visit our research group.
  2. ARTE (A Robotics Toolbox for Education): ARTE allows you to simulate any industrial serial robotic arm with realistic graphics inside Matlab.