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Die Arbeit entwickelt ein komplettes System für die telemanipulierte und autonome robotergestützte Chirurgie. Beschrieben werden die hierfür notwendigen Komponenten: Softwarearchitektur, Entwicklungsumgebung, Planung mit Validierung und Verifizierung, Einbindung der Sensordaten, Bahnplanung, Steuerung und Regelung der Aktorik. Die Funktionsfähigkeit des Systems wird anhand zweier Operationen gezeigt (Abdominalen Aortenaneurysma (AAA), Laserknochenschneiden mit einem CO2 Laser).

Laserknochenschneiden --- Robotergestützte Chirurgie --- Telemanipulation --- Leichtbauroboter --- Robotik

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Robotics and control are both research and application domains that have been frequently engineered through the use of interdisciplinary approaches like cybernetics. Cognition is a particular concept of this approach, abstracted from the context of living organisms to that of artificial devices, and is concerned with knowledge acquisition and understanding through thought, experience, and the senses. Cognitive robotics and control refer to knowledge processing as much as knowledge generation from problem understanding, leading to special forms of architectures that enable systems to behave in an autonomous way. The main aim of this book is to highlight emerging applications and address recent breakthroughs in the domain of cognitive robotics and control and related areas. Procedures, algorithms, architectures, and implementations for reasoning, problem solving, or decision making are considered in the domain of robotics and control.

History of engineering & technology --- initial trajectory --- trajectory optimization --- Bézier surface --- robotics --- open FPGAs --- robot control --- surgical robotics --- human-machine interaction --- autonomous guidance --- low-cost platform --- FPGA --- S-curve --- motion control --- SoC --- telemanipulation --- haptics --- machine learning --- gesture recognition --- upper limb rehabilitation robot --- particle swam optimization (PSO) --- artificial bee colony (ABC) --- Ziegler Nichols --- Maximum sensitivity --- ontology --- robot task planning --- knowledge base --- knowledge representation --- industrial collaborative robots --- shared robotic tasks --- physical human-robot interaction --- human intention recognition --- time series classification --- initial trajectory --- trajectory optimization --- Bézier surface --- robotics --- open FPGAs --- robot control --- surgical robotics --- human-machine interaction --- autonomous guidance --- low-cost platform --- FPGA --- S-curve --- motion control --- SoC --- telemanipulation --- haptics --- machine learning --- gesture recognition --- upper limb rehabilitation robot --- particle swam optimization (PSO) --- artificial bee colony (ABC) --- Ziegler Nichols --- Maximum sensitivity --- ontology --- robot task planning --- knowledge base --- knowledge representation --- industrial collaborative robots --- shared robotic tasks --- physical human-robot interaction --- human intention recognition --- time series classification

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Robotics and control are both research and application domains that have been frequently engineered through the use of interdisciplinary approaches like cybernetics. Cognition is a particular concept of this approach, abstracted from the context of living organisms to that of artificial devices, and is concerned with knowledge acquisition and understanding through thought, experience, and the senses. Cognitive robotics and control refer to knowledge processing as much as knowledge generation from problem understanding, leading to special forms of architectures that enable systems to behave in an autonomous way. The main aim of this book is to highlight emerging applications and address recent breakthroughs in the domain of cognitive robotics and control and related areas. Procedures, algorithms, architectures, and implementations for reasoning, problem solving, or decision making are considered in the domain of robotics and control.

initial trajectory --- trajectory optimization --- Bézier surface --- robotics --- open FPGAs --- robot control --- surgical robotics --- human–machine interaction --- autonomous guidance --- low-cost platform --- FPGA --- S-curve --- motion control --- SoC --- telemanipulation --- haptics --- machine learning --- gesture recognition --- upper limb rehabilitation robot --- particle swam optimization (PSO) --- artificial bee colony (ABC) --- Ziegler Nichols --- Maximum sensitivity --- ontology --- robot task planning --- knowledge base --- knowledge representation --- industrial collaborative robots --- shared robotic tasks --- physical human–robot interaction --- human intention recognition --- time series classification --- n/a --- Bézier surface --- human-machine interaction --- physical human-robot interaction