MATLAB Simulation of PUMA560 Robot with Workspace Path Planning

This article provides an in-depth exploration of MATLAB simulation for the PUMA560 robotic arm, with detailed implementation of workspace path planning. We begin by introducing the fundamental characteristics of the PUMA560 robot, followed by a comprehensive explanation of MATLAB simulation techniques using Robotics System Toolbox functions such as robot object creation and inverseKinematics solver configuration. Subsequently, we elaborate on the concepts and principles of workspace path planning, demonstrating implementation approaches through MATLAB code examples for waypoint generation using linspace and trajectory interpolation methods. The discussion extends to several distinct path planning algorithms including linear interpolation, cubic spline, and RRT (Rapidly-exploring Random Tree) implementations, comparing their advantages and disadvantages through performance metrics computation. Finally, we summarize the key findings and outline future research directions in robotics simulation, highlighting potential enhancements for real-time collision detection and optimization algorithms integration.