The D-backs right-hander has been on the disabled list with a right shoulder impingement since April 19.
Hudson, who got a cortisone injection after the injury, has not experienced any setbacks since. He threw in extended spring camp before making one rehab appearance for Triple-A Reno.
"After I got the injections and the inflammation went down, I never felt it again and I haven't felt it since," Hudson said. "I've never had anything like this happen before, so I was pretty nervous the first time I picked up a ball for the first time afterwards."
Hudson will join the D-backs on their road trip to San Francisco and San Diego after Sunday's game. It will be the first time he's been on the road since the injury.
"Not being able to be on the road with the guys and having to watch the games on TV, it's been frustrating for me," Hudson said. "Just being able to get back in the swing of things, pitch and then put the suit on and go on the road with the guys will be just a big relief for me."