Robotics Tools for Scilab/Xcos
The RTSX (Robotics Tools for Scilab/Xcos) is an open-source software written in Scilab to support robot analysis and control courses. It is distributed in the hope that it will be useful, but without any warranty. And it is released under the GNU General Public License.
The toolset is inspired by Robotic Toolbox for MATLAB/Simulink by P.I. Corke and share a similar set of core commands and functionality, though there are also differences in certain parts of the software. And it was originally created by V. Toochinda.
To start using the toolset, enter: exec('startup_rtsx.sce',-1) at Scilab command prompt.
The webpage of the toolbox is here. The online help is available at the same web and for PDF document go to subdirectory "/doc"