November 10, 2014
As part of an introductory robotics class, this project involved Matlab programming skills to control the motion of a
PUMA 260 robot in order to draw something interesting in the air with a colored light. The motion of the robot is captured by taking
a long-exposure photograph.
Solving the robot's full inverse kinematics (IK) was the first step; the PUMA is an articulated (RRR) robot with lateral offsets plus a spherical wrist (RRR).