The simulation allowed us to analyze the effectiveness of the space mouse control and gain more information about velocities/accelerations of the robot joints with increased feedback visibility in the system loop.

Note: With the help of the Peter Corke Robotics Toolbox for MATLAB, we were able to pull this off and change a lot of things about the robot’s parameters and variables. However, we were not able to change the name of the robot – hence why some of these screenshots label the robot as a ‘Puma 560.’