In this paper an action planning system is presented which is directly integrated into a multi robot controller (IRCS) used for a space laboratory. By the application of an action planning system the teleoperation on object level becomes available which allows to improve the safety aspects and the user interface. Furthermore, it becomes possible to let the space laboratory operate in an automatic mode in which the experiment controllers directly generate task descriptions for the IRCS. Some of the action planning system methods are presented in this paper, the action representation, and the coordination of multiple robots on task level.