6-DOF PUMA Robot Simulation with MATLAB Implementation

The 6-degree-of-freedom PUMA robot represents a versatile robotic system extensively utilized in industrial automation applications. Its kinematic structure enables precise execution of complex tasks including spray painting, arc welding, and precision assembly operations. With growing automation requirements across manufacturing sectors, PUMA robots have demonstrated significant operational flexibility and positioning accuracy. For technical exploration, the PUMA3d.M file provides a detailed MATLAB implementation featuring homogeneous transformation matrices for forward kinematics calculation and numerical methods for inverse kinematics solutions. The model incorporates CAD-derived geometric data processed through cad2matdemo.m conversion algorithm available on MathWorks File Exchange, ensuring accurate linkage parameters and joint coordinate system definitions. This developmental version implements Denavit-Hartenberg parameters for kinematic modeling and includes visualization functions for robot pose simulation. Users can modify trajectory generation algorithms and test waypoint navigation through customizable joint angle inputs. The current implementation supports singularity analysis and workspace validation through parametric simulation studies. As an ongoing project, the latest version with enhanced collision detection algorithms and dynamic simulation features can be accessed via MathWorks File Exchange repository. This computational model serves as an educational framework for understanding robotics kinematics and developing advanced motion planning algorithms for industrial automation systems.