中文摘要：

随着机器人应用在越来越多的领域，人们对其安全性的要求越来越高，作为机器人的核心，控制系统设计的可靠性对整个系统的安全至关重要；针对一种模块化设计的机器人控制系统架构，利用 xMAS （eXecutable MicroArchitecture Specification，可执行微架构描述）模型在定理证明器ACL2中对其功能正确性进行验证，首先对Xmas 在ACL2中的形式化理论做了阐述，然后对该机器人控制系统中的加速度传感器数据采集模块建立xMAS模型，提取关键属性并进行验证；将xMAS模型和定理证明器ACL2相结合，可以很好地解决机器人控制系统的验证问题，为机器人控制系统的形式化验证提供一个有效的方法参考。

英文摘要：

As robots used in more and more fields,people are more stricted with their safety.As the core of the mobile robot,the relia-bility of the control system is very important to the whole system.In this paper,a modular design of robot control system architecture is modeled by the xMAS and then verified using ACL2,proving the funtionality correctness.As the formalization of xMAS model in acl2 is not completed,we first improve the formalization process in acl2 and then establish xMAS model of the sensor data acquisition module,abstract some key properties and then verify them.We combine the theorem prover ACL2 and xMAS model,which is a great way to solve the verifi-cation problem of robot control system,could also provide an effective reference method for the correctness verification of robot control sys-tem.