Abstract：A Language(Space Robot Control Language)and its structure are proposed,which is the software basefor three control modes of space robot:teleoperation,autonomous operation,and shared operation.Alsopresented are examples of programming for autonomous operation mode.As for teleoperation mode,lan-guage aided operation method is used to treat the problems that are difficult for operator alone to solve.
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 Bertrand Tondu. Basic concepts for the definition of a telerobot programming language. SPIE 1002,490-495
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 VAL Manual,Version 2. 1,Unimation Inc