This package (ROBOOP1 ) is a C++ robotics object oriented programming toolbox suitable for synthesis, and simulation of robotic manipulator models in an environment that provides “MATLAB like” features for the treatment of matrices. Its is a portable tool that does not require the use of commercial software. A class named Robot provides the implementation of the kinematics, the dynamics and the linearized dynamics of serial robotic manipulators. A class named Stewart provides the implementation of the kinematics, the dynamics for Stewart type parallel manipulators.