
ENME808V A Mathematical Introduction to Robotics
Instructor:
Jaydev P. Desai, Associate Professor
0160 Glenn L. Martin Hall
(301)4054427
jaydev@umd.edu
http://rams.umd.edu
Credits: 3
Time: MW 11:00AM  12:15AM
Location: JMP 1109
Course Overview:
This course can be used to meet the Math requirement for the Ph.D. Program in Mechanical
Engineering.
This course is designed to provide graduate students with an understanding of some of the
concepts in robotics from a mathematical viewpoint. The course will cover the following
topics:
 Introduction to Group theory and basics of SO(3) and SE(3) group applied to
robotics
 Rigid Body Motion . introduction to twists, screw motion, and wrenches
 Manipulator Kinematics . Forward kinematics, inverse kinematics, Jacobian
 Introduction to holonomic and nonholonomic constraints
 Dynamics of robot manipulators
 Additional topics if time permits
Textbook: A Mathematical Introduction to Robotic Manipulation, by R. M. Murray, Z.
Li, and
S. S.
Sastry, Published by CRC Press, ISBN: 0849379814


