The toolbox contains functions and classes to represent orientation and pose in 2D and 3D (SO(2), SE(2), SO(3), SE(3)) as matrices, quaternions, twists, triple angles, and matrix exponentials. The Toolbox also provides functions for manipulating and converting between datatypes such as vectors, homogeneous transformations and unit-quaternions which are necessary to represent 3-dimensional position and orientation. The Toolbox has always provided many functions that are useful for the study and simulation of classical arm-type robotics, for example such things as kinematics, dynamics, and trajectory generation. This version captures a large number of changes and extensions to support the second edition of my book “Robotics, Vision & Control”.įor the first edition please go to this site to obtain the ninth release. This, the tenth release of the Toolbox, represents over twenty years of development and a substantial level of maturity.
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