The Robotics Toolbox for MATLAB® and its offshoots were written by Peter Corke over the period 1994-2020. These Toolboxes are no longer supported, see the rationale here, but the source code is freely available on GitHub.
The Toolbox started as a collection of functions that interested me and were needed for my research. It has undergone feature addition over time, including changes to track the evolution of MATLAB® over this long interval (ie. objects were added in 1996).
The Toolbox went public with an IEEE RAM paper in 1996 which offered the software via “anonymous ftp”! Various versions were released over time. There have been two major refactoring that led to new Toolboxes: Machine Vision Toolbox (2004) and the Spatial Math Toolbox (2018) written during a sabbatical visit to MathWorks® in Natick.
RVC2 (2017)
Used these open-source MATLAB Toolboxes: RTB10.x, MVTB4.x
RVC1 (2011)
There are some minor incompatibilities between these versions, in particular the default axis order of RPY rotation sequences.
Here’s a picture with Cleve Moler, the inventor of MATLAB at a MATLAB Expo in 2016.
