Abstract
This paper describes the development of control software for industrial robot systems based on concurrent process modeling. Robotic tasks are specified and represented hierarchically using Petri nets. The overall Petri net model is simulated and used to control the robot system by initiating the execution of the corresponding real-time robotic task when a transition fires. For the transition firing condition test, external gates are supplemented, the values of which are set through serial communication between a controller and a real machine. Multithreaded programming is adopted to concurrently communicate with several machines. Thus distributed Petri net model based design and control, where each machine is controlled autonomously, are successfully implemented on general PCs.
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