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3D Puma Robot Demo

4.3 | 30 ratings Rate this file 88 Downloads (last 30 days) File Size: 52.3 KB File ID: #14932 Version: 1.0
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3D Puma Robot Demo


Don Riley (view profile)


09 May 2007 (Updated )

Simulate a 6 link 3D Puma Robot

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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.


Robot Demo, Cad2 Matdemo.M, and Uibutton: Gui Pushbuttons With Better Labels inspired this file.

This file inspired Puma Robot Simulation and Four Bar Polode Animation.

MATLAB release MATLAB 7.3 (R2006b)
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Comments and Ratings (38)
10 Feb 2017 Omar Aljanaideh

10 Dec 2016 Utkarsh Singh

26 Oct 2016 Pasc Peli

Pasc Peli (view profile)

26 Oct 2016 Pasc Peli

Pasc Peli (view profile)

This is a very good work. Excellent educational material. Actually it inspired me to enhance it. You can find my "UPDATED" version here ( )

26 Oct 2016 Pasc Peli

Pasc Peli (view profile)

22 Sep 2016 hurd cheng

very good. Thanks

13 Jun 2016 Anam Rizvi

so helpful!

11 Dec 2015 Jaerim Kim

really good demo.

29 Oct 2015 ktye ktye

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

Comment only
04 Aug 2015 Mohamadjavad Khodkar

Hi Sir,
Thanks for your File,
I did not get it that how you control this robot?I maens that whti which Strategy you control this robot(Like PID Or Fuuzy Or...)?
can you show me the Line that you control this robot?

24 Jun 2015 weilin bao


22 Apr 2015 ben seif

how can use two arm puma672 in it !!!!!?

Comment only
28 Dec 2014 liang

liang (view profile)

06 Apr 2014 liang

liang (view profile)

I can not understant what is the means of A1 in linksdata.mat.

Comment only
21 Mar 2014 oumaya abdelkhalek

source code !!!

Comment only
29 May 2013 Neha Jain

Thank you very much :)

24 Nov 2012 shiva

shiva (view profile)

Manually adding link data to "linksdata.mat" file:

if you have saved your link files with struct variables as s1,s2,...,s6,s7

double click on each of the mat file to load them in matlab workspace.

then type,


in the command window

Comment only
24 Nov 2012 shiva

shiva (view profile)

A tip to automatically add a column of 1s to vertices matrix

add this line in the cad2mat function

s0.V0 = [V(:,1), V(:,2), V(:,3), ones(length(V),1)];


function cad2mat(filename)
filename = 'Link0.stl'; % part
% Read the CAD data file:
[F, V, C] = rndread(filename);
s0=struct('F0', F,'V0', V,'C0', C);
s0.V0 = [V(:,1), V(:,2), V(:,3), ones(length(V),1)];

11 Jun 2012 cancan

cancan (view profile)

Can you show us how to store the link data manually in the "linksdata.mat"? Thank you in advance!!

16 Apr 2012 Xietong LU

The IK part is nice and easy to understand. Thank you very much!

30 Jan 2012 Patrik Eschle

Nicely programmed, ideal for illustration purpose.

16 Oct 2011 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

04 Oct 2011 Mohd Huzaifa

awesome robot simulation

21 Sep 2011 David Flores

20 Aug 2010 Mathias Mathias

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

23 Apr 2010 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?

04 Apr 2009 Alex Frid

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

12 May 2008 Cesar Gustavo Chillon

Very good simulation in joint mode.

05 Apr 2008 jang shaoten

30 Mar 2008 Karan Khokar

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

26 Mar 2008 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.

02 Feb 2008 toño leiva

necesito un manual del puma 260

Comment only
03 Jan 2008 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!

15 Dec 2007 engin mergenci

it is a good demo

Comment only
01 Dec 2007 Jordi Palacin

Very nice and helpful !

06 Nov 2007 khan islam

i saw it and makeit

Comment only
21 Jun 2007 Brian Ho

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

18 May 2007 Aquiles Perez

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

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