University of Maryland · Mechanical Engineering · Fall 2026
Introduction to Robotics
Rigid motions, kinematics and control worked out on paper, then run on a six-axis UR3e in the lab.
The course
ENME480 is the first course in the Robotics and Autonomous Systems Minor. Lectures build the math: rigid-body motions, forward and inverse kinematics, velocity kinematics, dynamics, trajectory planning and joint control. Studios and labs turn each of those into working ROS 2 code, first in simulation and then on a UR3e arm.
The final project ties the semester together. An overhead camera finds ArUco-tagged blocks on the table, your inverse kinematics solves for the joint angles that reach them, and the arm stacks a tower.
- Term
- 31 August – 9 December 2026 · 3 credits
- Lectures
- Mon and Wed, 2:00–2:50 pm · CHE 2110
- Studios
- See the section table below
- Instructor
- Dr. Nikhil Chopra · nchopra@umd.edu
- Office hours
- Thu 10:00–11:30 am on Zoom
- Teaching assistants
- Alex Beyer (abeyer@umd.edu), Kaustubh Joshi (kjoshi@umd.edu) · hours TBD
- Textbook
- Spong, Hutchinson and Vidyasagar, Robot Modeling and Control, 2nd ed. (2020) · ISBN 978-1119523994
- Questions
- Piazza is the official channel
- Materials and grades
- Canvas / ELMS
- Lab code
- github.com/ENME480
Sections
| Section | Day | Time | Rooms |
|---|---|---|---|
| Lecture | Mon, Wed | 2:00–2:50 pm | CHE 2110 |
| Studio 0101 | Thu | 12:00–2:00 pm | KEB 2111 / EAF 3119 |
| Studio 0102 | Fri | 8:00–10:00 am | KEB 2111 / EAF 3119 |
| Studio 0103 | Tue | 12:00–2:00 pm | KEB 2107 / EAF 3119 |
Programming studios run in the Kim Engineering Building. Robot sessions run in the IDEA Factory. Rooms can change during the semester, so watch Piazza.
This week
- Lab intro session. Bring a laptop.
- Start the UR3e safety training. Robot lab access depends on it.
- Install Ubuntu 22.04 and ROS 2 Humble before Week 2.
Recently changed
- Fall 2026 syllabus posted.
- Site reorganised. See the Site Map for where things moved.
Grading
| Component | Weight |
|---|---|
| Midterm 1 | 25% |
| Midterm 2 | 25% |
| Studio and lab assignments | 20% |
| Final project | 20% |
| Homework | 7% |
| In-class assignments | 3% |
| Extra credit | 1% |
Exam 1 falls on Monday 19 October, Exam 2 on Wednesday 18 November. One page of notes, front and back, is allowed in each.
Cutoffs: A+ 97, A 94, A− 90 · B+ 87, B 84, B− 80 · C+ 77, C 74, C− 70 · D+ 67, D 64, D− 60 · F below 60.
Start here
- Read the syllabus. It is the authority on grading, policies and the week-by-week schedule.
- Complete the UR3e safety training. Robot lab access depends on it.
- Install Ubuntu and ROS 2 — see Ubuntu Setup and ROS Setup.
- Work through Week 1 before your first session.
Not sure where something lives? The site map lists every page on this site.