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Applied Mathematics & Statistics, and Scientific Computation

ENME808V A Mathematical Introduction to Robotics

Jaydev P. Desai, Associate Professor
0160 Glenn L. Martin Hall

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 non-holonomic 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: 0-8493-7981-4