Robotics System Toolbox™ supports workflows related to articulated robots. You can send commands to robotic manipulators in MATLAB^®. Joint position commands are sent via a ROS action client over a ROS network. You can also calculate joint positions for a desired end-effect position. A rigid body tree defines the robot geometry and joint constraints, which is used with inverse kinematics to provide the robot with joint positions. You can then send these joint positions as a trajectory to command the robot to move.