The Architecture of Hybrid Control System and Intelligent Autonomous Control for Space Robot Based on Multi-Agent System Technology

摘要

In this paper, according to the special characteristics of teleoperation modes of space robots, the architecture and configuration of hybrid control system for space robots and their corresponding optimizing synthetic design and implementation are studied in depth in order to overcome (or tackle) disadvantageous influences on the telemanipulation of space robots due to some big stochastic delays of remote instruction transmission. Meanwhile the intelligent autonomous controls of space robot based on the multi-agent system technology are studied. A virtual implementation, in which a prototype system of mobile agents, Jama, is employed to be planted in the control system of the space robot, is carried out to demonstrate the feasibility and effectiveness of the autonomous hybrid control strategy proposed by the authors.