Download or read book Practical Sensor-based Manipulator Motion Planning in Completely Unknown Dynamic Environments written by Rayomand Soli Vatcha and published by . This book was released on 2006 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous high-DOF robot manipulators working in unstructured environments has been one of the ultimate challenges in robotics research. Progress towards this goal requires advances in many domains, including manipulator motion planning in unknown and dynamic environments. Where there is relatively little work in the literature. This thesis presents a novel and practical approach to sensor-based real-time motion planning for manipulators in a completely unknown dynamic environment. The approach is implemented and tested on a real 5-DOF robot manipulator equipped with an overhead stereo vision system with good results.