MATLAB Code Implementation for Simulation Example: Six-DOF Robot Source Program

This document presents a comprehensive implementation of a six-degree-of-freedom (6-DOF) robotic system simulation using MATLAB. The simulation leverages structured source code to demonstrate practical programming techniques for controlling robotic movements in virtual environments. Key algorithmic components include forward/inverse kinematics calculations, trajectory planning using cubic spline interpolation, and coordinate transformation matrices for spatial positioning.

The implementation begins with system initialization through MATLAB's robotics toolbox, defining DH parameters for joint configurations. The core simulation logic involves constructing homogeneous transformation matrices for each joint angle, with Euler angle calculations for orientation control. Motion planning algorithms utilize waypoint-based trajectory generation with velocity profiling for smooth motion execution. Practical task demonstrations include object manipulation sequences with gripper control integration and collision detection routines using bounding-box algorithms.

Each code section includes detailed comments explaining matrix operations for kinematic chains and numerical methods for solving inverse kinematics using pseudo-inverse Jacobian techniques. The simulation environment incorporates 3D visualization through MATLAB's handle graphics, with real-time plotting of joint trajectories and end-effector paths. Advanced features include dynamic simulation with ode45 solvers for motion physics and error handling for singular configurations.