Design and Implementation of Petrinet Based Distributed Control Architecture for Robotic Manufacturing Systems

Abstract

In this paper, the methods of the modeling and decomposition of the large and complex discrete event manufacturing systems are considered, and a methodology is presented for hierarchical and distributed control, where the cooperation of each controller is implemented so that the behavior of the overall system is not deteriorated and the task specification is completely satisfied. First, the task specification is defined as a Petrinet model at the conceptual level, and then transformed to the detailed Petrinet representation of manufacturing processes. Finally, the overall Petrinet is decomposed and the constituent subnets are assigned to the machine controllers. The machine controllers are coordinated so that the decomposed transitions fire at the same time. System coordination through communication between the coordinator and machine controllers, is presented. Modeling and control of large and complex manufacturing systems can be performed consistently using Petrinets.