The children of the late actor and comedian Robin Williams have paid tribute to their father on the seventh anniversary of his death.

Zak Williams and Zelda Williams posted emotional messages of love to Williams, who died in 2014 at the age of 63.

Zak, who is a mental health advocate, tweeted: "Dad, seven years ago today you passed on.

"The joy and inspiration you brought to the world carries on in your legacy and in your family, friends, and fans you so loved.

"You lived to bring laughter and to help others. I will be celebrating your memory today. Love you forever."

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He also paid tribute to his dad on what would have been his 70th birthday in July. "I would want you to know that your incredible spirit lives within us," Zak said on Instagram.

"Our family will be celebrating you and your memory today. We miss you and love you always!"

His sister Zelda Williams also remembered her father and urged anyone dealing with mental health issues to seek help.

"Sending love out there today to all the folks navigating loss, she tweeted. "New, old, the connective tissue of that deeply human pain can be hard to bear, but I find it easier sometimes knowing how many others have felt the same sting.

"We're not alone."

If you have been affected by any of the issues raised in this article, please see RTÉ's helplines.