Elimination of critical situations at the cooperation of robots

During cooperation of several robots in a limited working space critical situations can occur. The main aim of this paper is to point out the possibility of utilizing the Petri net-based approach in order to eliminate them. In such a case usually only one robot is allowed to enter the working space. Place/transition Petri nets are used here to model the robotic cell and to synthesize supervisors ensuring the cooperation of its devices. Then, timed Petri nets (TPN) are used in order to acquire the performance evaluation of the whole cell.