Man-machine cooperation based control models of tele-robotics

In a typical tele-robotics,man-machine cooperation is a key issue that involves intrinsically the distribution of man-machine intelligence.Three types of control models including supervisory control model,shared control model,and manual control model,are analyzed in terms of logical aspects of the man-machine cooperation.By introducing the concepts of virtual operating device and its running mechanisms,controlled Petri-net descriptions of the above three control models are given based on system confirm-service model,which can provide valuable reference for the resolution of tele-robotics man-machine cooperation.