3D Puma Robot Demo

Simulate a 6 link 3D Puma Robot

Description

This program simulates a 6 link 3D Puma Robot in the robots lab at Walla Walla College. The 3D robot looks "real" thanks to the cad2matdemo program.

The robot currently moves with kinematic control using direct input of joint angles and slider bars (GUI). Some inverse kinematics options are built in but not automated yet (a demo button). A random input is also provided and the robot animates between locations.

There are just two files to use. The main program and the six 3D-links data file that is read in at start up.

Try the "demo" button and the "Random Move" button.

Note: This file will be updated and improved. Comments welcomed.

Acknowledgements

The author wishes to acknowledge the following in the creation of this submission:
Robot Demo, CAD2MATDEMO.M, uibutton: GUI pushbuttons with better labels
This submission has inspired the following:
Four-Bar Polode Animation

• MATLAB release: MATLAB 7.3 (R2006b)

[Aquiles Perez]

How applicable do you think will be to combine this with the daq toolbox to move a real puma robot?

[Brian Ho]

Full details and steps available in the program. good example for inverse kinematic

[khan islam]

i saw it and makeit

[Jordi Palacin]

Very nice and helpful !

[engin mergenci]

it is a good demo

[xu song]

why I can't run it?
Error in ==> C:\MATLAB6p5\work\puma3d.m (loaddata)
On line 478 ==> [linkdata]=load('linksdata.mat','s1','s2', 's3','s4','s5','s6','s7','A1');

Error in ==> C:\MATLAB6p5\work\puma3d.m
On line 25 ==> loaddata
??? Error using ==> load
Unable to read MAT file C:\MATLAB6p5\work\linksdata.mat

File may be corrupt.

who can help me?thanks!

[toño leiva]

necesito un manual del puma 260

[abdelrazzac MERHEB]

It's a good demo... I will try to use it in my thesis, "Nonlinear Control of PUMA Robot" it would be perfect...
But when I open puma3d.m I don't see the slides and the edit boxes.. any idea?
thanks a lot for the demo.

[Karan Khokar]

Very good simulation in joint mode. Possible additions could be Cartesian mode movement for end-effector which would require inverse kinematics.

[jang shaoten]

 

[Cesar Gustavo Chillon]

Very good simulation in joint mode.

[Alex Frid]

very cool simulation!!
some question:
how do you set the initial position of the parts (before starting the transformations)? i.e.

[Infant Joe Charles]

Is there any manual to guide how to write programs like this? I'm thinking about developing a robotic arm that picks the objects after analyzing the images of the object. Can you help on that?

[Mathias Mathias]

How du store the link data manually in the linksdata.mat?

[David Flores]

 

[Mohd Huzaifa]

awesome robot simulation

[Nirav Chudasama]

Nice work.
I am beginner in this work can any body help me how to insert robotic toolbox in my mat lab r2008a

[Patrik Eschle]

Nicely programmed, ideal for illustration purpose.