The resources given in this page aim at providing supplementary study materials in the fields of mechanisms and robotics. The articles are substantiated with codes in Mathematica, a symbolic computation tool, wherever possible. Most of the articles are part of the courses taught at IIT Madras. Articles to help students in technical writing and plotting in Matlab are also given.

Additional links to other valuable resources have also been provided for further reference.

Note: Mathematica is required to view the notebook code files (.nb). Attempt is being made to convert the codes to computational document format (.cdf), which is free to use.



The robotics page contains articles and notes which are part of the courses taught at IIT Madras, in particular ED5260, which is a course in kinematics, dynamics, and control of serial manipulators. Links to other resources are included.

Go tothe robotics page.


Technical Writing (using LaTeX)


Articles in this section provide basic help for technical writing and macros for LaTeX that may help in writing documents faster.

LaTeX is one the most commonly used tool for technical writing. It makes type-setting and formatting easier, thus, the author can focus on the content. There are several resources available for learning LaTeX. Links to some of them are also provided below.

All the articles given in this page are writtten in LaTeX.


1. A Basic Checklist for Writing a Thesis or a Report or any other Formal Document

Guidelines and tips for writing a formal document is provided.



2. Macros for LaTeX

This file contains a collection of useful macros for symbols commonly used by the kinematics and robotics community.

TeX file


3. A Few Tips on Improving 2-D Plots in Matlab

The article provides basic information on generating plots in Matlab. Emphasis is laid on how a simple plot can be improved for better readability.

PDF          Matlab file          LaTeX file


4. Other Resources