SoRoSim 6.3 with more Features and Options Than Ever Before!

Users can choose basis functions: local, global, and custom independent basis
Twist class is revised into SorosimTwist with many new properties and features
Custom integration scheme
Point force can be applied anywhere on the link (not only at the tip)
Custom external point force can be applied
Custom plot function for rigid links (rigid links can have any shape the user wants)
GUI improvement
Bug Fixes

Faster SoRoSim

New version of SoRoSim for faster computations, better GUI, and bug fixes

SoRoSim Toolbox v3.0

SoRoSim can now handle closed-chain and branched structures in addition to open-chain robotic systems.
Scaling techniques were added to improve simulation speed and convergence.

SoRoSim Toolbox

An open-chain robotics simulation toolbox that uses the Geometric Variable Strain Model to simulate soft and rigid manipulators.
Using this toolbox, users can simulate and solve forward kinematic problems as well as plot different manipulator configurations. The toolbox also enables users to solve static and dynamic equilibrium equations of linkages subjected to cable actuation, external distributedforces and external point forces.