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.