6-DOF PUMA Robot Simulation Program with Visual Servoing

This documentation presents the development of a 6-degree-of-freedom PUMA robot simulation program featuring a comprehensive graphical user interface. The implementation utilizes MATLAB's Robotics System Toolbox for kinematic modeling and includes custom GUI components developed using App Designer for real-time parameter adjustment and visualization. Additionally, we delve into the principles and applications of robot visual servoing, implementing both position-based and image-based visual servoing (PBVS/IBVS) control algorithms. The visual servoing module integrates computer vision techniques using OpenCV for feature extraction and implements PID controllers for error minimization between current and target positions. Through this guide, you'll learn practical applications of these robotics technologies while understanding current research trends and future development directions. We provide detailed step-by-step instructions with code examples demonstrating forward/inverse kinematics calculations, trajectory planning using cubic polynomials, and camera-robot coordination mechanisms. Hands-on demonstrations will help you master these techniques and deepen practical understanding. Let's begin this comprehensive robotics journey!