Research of Space Robot Autonomous Operation Architecture

Space robot has important economic and applied value, and the autonomous operation of the space robot is an important development direction in the application of the space robot. We proposed the multi-level architecture of autonomous operation for the space robot. Design the modeling language and frame in operation planning to make the autonomous control easier to implement. The various elements such as relationships, constraints and actions in the autonomous operation are described and modeled. The method of planning and scheduling is put up based on the case reasoning and planning scheduling of the object. So that to reduce the burden of the operator and reinforce the space robot operation task.