Standard Units for Robotics System Toolbox

Robotics System Toolbox™ uses a fixed set of standards for units to ensure consistency across algorithms and applications. Unless specified otherwise, functions and classes in this toolbox represent all values in units based on the International System of Units (SI). The table below summarizes the relevant quantities and their SI derived units.

Quantity	Unit (abbrev.)
Length	meter (m)
Time	second (s)
Angle	radian (rad)
Velocity	meter/second (m/s)
Angular Velocity	radian/second (rad/s)
Acceleration	meter/second2 (m/s2)
Angular Acceleration	radian/second2 (rad/s2)
Mass	kilogram (kg)
Force	Newton (N)
Torque	Newton-meter (N-m)
Moment of Inertia	kilogram-meter2 (kg-m2)

Related Topics

• Coordinate Transformations in Robotics