Trajectory Generation PUMA 560 Robot

The tool tip need to follow a trajectory defined by the alphabetical letters A,B, C placed on the three faces of a cube away from the surface of the cube. It should Move from the reference arm configuration to the starting point of the first letter, trace the first letter, then transition from the end of the first letter to the beginning of the second letter.

[Ameer Hamza]

Due you have the model of PUMA 560 robot in rigidbody tree or any other format: https://www.mathworks.com/help/robotics/ref/rigidbodytree.html.