Robot Analysis and Control with Scilab and RTSX


At this computer era, a robotics course cannot be taught by only writing on the board anymore. For better understanding, students expect to see rotations and translations of coordinate frames rendered as computer graphics. Robotic Tools for Scilab/Xcos (RTSX) is developed to be used with the open-source Scilab software. The primary purpose of The Robot Analysis and Control with Scilab and RTSX e-book is to serve as a user guide for RTSX. It is however not just a software reference. There are certain parts in the book that discuss both the fundamentals of robotics, as well as rather advanced control schemes. See the preface and table of contents below for the overall book perspective.

This e-book is used as a supplement text for 01211433 Robotics course, Electro-Mechanical Manufacturing Engineering – International Undergraduate Program (EMME-IUP), Department of Mechanical Engineering, Kasetsart University.

To help you get started with the RTSX software, Chapter 1 – 3 of the e-book and Appendix A: RTSX Command Reference are provided below for free download.

Note: For those who download RTSX package after Feb 2014, all the free chapters are already included in the RTSX zip file under /doc/RACSR subdirectory.

The whole e-book (USD 7.00) can be purchased via Paypal by clicking the button below. After payment received, the e-book will be emailed to you within 24 hours, with your email address imprinted and used as password to open the .pdf file.

The e-book has to be manually processed for each purchase by the author. There is no automated email reply or download link.

For volume purchase or classroom license, please email us:

We now launch a website Robot Scilab dedicated to the study of robotics using RTSX and this e-book.


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