I have two questions.

[cocolalayh]

I'm sorry, I'm new to this field
How can I use the toolbox to create my own robot?
How do I use the toolbox for arm trajectory planning?

[petercorke]

That's a big question. You need to be familiar with underlying concepts, the approach in Robotics, Vision & Control book is SIMILAR to this. Have a look at the examples, included with the toolbox, as well.