Real-time scheduling for robot systems by timed Petri nets

With the introduction of hierarchization of computer integrated manufacturing (CIM), autonomous decentralization appears important. The paper attempts to report the hierarchical system structures and algorithms employed in a simulation system based on the optimum coupling and selection of the dispatching rules as a part of the software solution. Further, as a possible control method of such systems, the paper discusses the applications of timed Petri nets as an analytical tool for observing the behavior of the asynchronous parallel processing systems