Modeling, simulation and distributed control of robotic systems using Petri net based multitask processing

In this paper, the methods of modeling the complex discrete event robotic systems using Petri nets are considered, and a methodology of net model decomposition and coordination is presented for hierarchical and distributed control. The hierarchical net representation of robotic processes is effectively used for achieving a top-down interpretation down to the concrete lower level activities. The detailed net model is decomposed into subnets, and coordinated distributed control by local machine controllers is implemented on general PLCs. By the proposed method, modeling, simulation and control of complex robotic systems can be performed consistently using Petri nets.