A Matlab toolbox for robotic manipulators

Matlab toolboxes have been very useful to teach and train without the need for the physical system. Especially in the robotics field, using simulations avoids the considerable cost of building a full robot manipulator. For robotics, there was only one Matlab toolbox, which has several limitations. These limitations have been cured in the toolbox reported in this paper. Also, there have been some additions to make the toolbox robust and more complete. Some of these improvements are using a closed-form solution for the inverse kinematics, a tough path and trajectory generation. In addition, an end effector (i.e., a two-fingered gripper) has been added, hence the user can simulate a robot which manipulates objects. The full toolbox and its documentation can be freely downloaded from Internet.