Fernando Martell
Papers
10
Total Citations
65
H-Index
5
About
Fernando Martell is a robotics and mechatronics researcher whose work sits at the intersection of robotic kinematics, simulation, and engineering education technology. He has made significant contributions to solving one of robotics' most fundamental challenges: inverse kinematics (IK) for industrial manipulators, particularly the widely-used UR/TM-type collaborative robots. His most cited work, "Singularity Analysis and Complete Methods to Compute the Inverse Kinematics for a 6-DOF UR/TM-Type Robot" (2022, 23 citations), provides comprehensive IK solutions critical for advanced control strategies including digital twins. Complementing this, his statistical comparisons and alternative IK formulations for the UR5 arm have become valuable references for researchers worldwide. Beyond kinematics, Martell has pioneered virtual and augmented reality platforms for robotics education, developing remote laboratories that allow students to interact with virtual UR5 and SCARA robots — work that proved especially timely during the COVID-19 pandemic's disruption of hands-on learning. His ROS2 and Unity-based telepresence simulation further demonstrates his versatility across software frameworks. With over 55 cumulative citations, Martell's research meaningfully advances both the technical foundations of robot control and the democratization of practical robotics education through accessible digital tools.
Research Focus
Key Achievements
Top Papers
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- 2ROS2 and Unity based Simulation for telepresence robot7 citations · 2022
- 3Alternative Inverse Kinematic Solution of the UR5 Robotic Arm6 citations · 2021
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