An-Najah Staff

This paper introduces Petri-Net models of robots for the analysis and design of robot networks. Several levels of robot models are introduced .The simplest meaningful model is a two-transition four-place one which can be used for quick "executive"-modeling for first or quick designs. Beyond this a detailed technician level model is introduced which can model fine points of the robot, operation. The state equations for these models are given and application to networks of robots illustrated by the modeling of a ring network.