This paper presents a high-level control architecture
for robotic spacecrafts. The design of this architecture focuses
on future On-Orbit Servicing missions. Part of it is
a component framework that improves software reuse in
space applications and enables real-time communication
between different components of a satellite which is essential
for on-orbit servicing. Further, this architecture
supports online reconfiguration of the components, resource
management and a distribution of the components
across a network. A supervisor monitors and coordinates
all attached components. A prototype was successfully
tested with a two axis robot and a force-reflecting joystick
in a telepresence scenario
