You can try and use MATLAB Robotics toolbox which has written and created by Peter Corke. You can download the toolbox freely from this address: http://petercorke.com/Toolbox_software.html
Is it possible to model any kinematic structure or a robot using Matlab? If yes, what kind of a toolbox I have to use for creation of the kinematic structure and building the kinematic equations? Is there any tutorial, explaining this information?
I am interested in other software for modeling of robots and automatic building of the kinematic equations too.