Abstract
This paper describes an implementation procedure of distributed control software for robot-based manufacturing systems. Robots and other devices such as conveyors and manufacturing machines are defined as object-oriented communicating sequential processes. A modular and hierarchical approach is adopted to define a set of Petri net type diagrams, which represent concurrent control processes for such devices, and asynchronous and synchronous interactions in global process interaction nets. Operational specifications are directly transformed to executable codes in a parallel programming language, such as occam. Implementations of control software on a multiprocessing environment and transputer networks are comparatively evaluated.
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