空间遥操作机器人系统控制参考模型

从分析智能系统中智能行为机制人手，研究了智能系统中自组织单元基本结构，基于智能工程中的集成单元结构，提出了遥操作机器人系统的递阶嵌套控制参考模型，并应用到遥操作空间机器人模拟实验中，完成了模拟舱内作业任务，验证了其实用性。

Reference model for space telerobot control system architecture

In this paper,the intelligent behavior mechanism of intelligent system is analysed first,then the self organizing unit of intelligent system is studied.Based on the above research results and the Integrated Structure for Units proposed in the research area of Intelligence Engineering,a new reference model for telerobot control system architecture is proposed,which is hierarchical and nested,and this model can describe the information processing in telerobot control system clearly.The proposed reference model for telerobot control system architecture is also formalized,which provide an analytic base for the further design and analysis of telerobot control systems.The application in the implementation of space telerobotic system demonstrated its feasibility.