This is a Simulation of a Puma 762 manipulator capable of solving the Forward and Inverse Kinematics problems.
The Code is based on '3D Puma Robot Demo' from Don Riley.
Some changes were made to the functions so as to give a more complete solution for the inverse kinematics problem (position and orientation).
The GUI has been enhanced with some new features. An 'Inverse Kinematics' panel for IK variables input, Radiobuttons for viewing different solutions, a 'D-H parameters' table and a 'Transformation matrix' table.
The 'Demo' button has been changed to 'Draw' with some new 'drawings' available.
Pasc Peli (2021). Puma Robot Simulation (https://www.mathworks.com/matlabcentral/fileexchange/59663-puma-robot-simulation), MATLAB Central File Exchange. Retrieved .
Sir can you please let me know how you got the inverse kinematics equations.
Theta values are the only thing that change within the DH parameters. Is that intended?
@pasc peli sir i want to draw my name like u did "puma, fabonacci.."
from where i can change the matrix values.... the file named as graphics could not open plz help
@marawen I am sorry for the late reply. I hope you found the solution you where looking for. I haven't worked on creating the 3D model of the manipulator so I am not sure I can help much.
@jahanzeb To draw something you have to pass a matrix of x,y,z positions for the manipulator to go to.
how to change drawing option
hello Mr Peli,
thank you Sir for your work.
Can you show me how to store the link data manually in the "linksdata.mat"?
Thanks!I think that it is very useful.If the simulink could carry objects,the simulink is more perfect!
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