Model on robots of flexible manufacturing system with Petri net in welding

In this paper, a new model is designed for welding flexible manufacturing system (WFMS) of multiple robots in a different way with Petri net (PN), which is multi-robot WFMS time Petri net (MRWTPN). Because the complexity of information and the device of welding system, the function of inhibit arc is imported in the model and we design two-layer way in model's structure, one is main net that depicts the system, the other is subnet depicting appointed device which are welding robot and assistant robot. Hence the control model's characters are proved correctly in theory, too. The model and control's policies researched have established foundation for further intelligent real-time control on WFMS, and it extends the applied area of PN.