This page will always list the current released version number as well as bug fixes and new
code in between major releases.
A Google Group called "Robotics Toolbox" has been created to handle discussion. This
replaces all former discussion tools which have proved to be very problematic in the past.
The URL is
How to obtain the Toolbox
The Robotics Toolbox is freely available from the Toolbox home page at
or the CSIRO mirror
The files are available in either gzipped tar format (.gz) or zip format (.zip). The web page
requests some information from you regarding such as your country, type of organization
and application. This is just a means for me to gauge interest and to help convince my
bosses (and myself) that this is a worthwhile activity.
is a comprehensive manual with a tutorial introduction and details
of each Toolbox function. A menu-driven demonstration can be invoked by the function
MATLAB version issues
The Toolbox should in principle work with M
version 6 and greater. However fea-
tures of Matlab keep changing so it best to use the latest versions R2007 or R2008.
The Toolbox will not function under M
v3.x or v4.x since those versions do not
support objects. An older version of the Toolbox, available from the Matlab4 ftp site is
workable but lacks some features of this current Toolbox release.
I am grateful for the support of my employer, CSIRO, for supporting me in this activity and
providing me with access to the Matlab tools.
I have corresponded with a great many people via email since the first release of this Tool-
box. Some have identified bugs and shortcomings in the documentation, and even better,
some have provided bug fixes and even new modules, thankyou. See the file
Support, use in teaching, bug fixes, etc.
I'm always happy to correspond with people who have found genuine bugs or deficiencies
in the Toolbox, or who have suggestions about ways to improve its functionality. However
I draw the line at providing help for people with their assignments and homework!