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In this paper, the methods of the modeling of the discrete event robotic manufacturing systems using Petri nets are considered, and a methodology of decomposition and coordination is presented for hierarchical and distributed control, where the cooperation of each controller is implemented so that the behavior of the overall system is the same as the centralized control system and the task specification is completely satisfied. First, a task specification is defined as a Petri net model at the conceptual level, and then transformed to the detailed Petri net representation of the subtasks. Finally, the overall Petri net is decomposed and the constituent subnets are assigned to local Petri net based controllers. The controllers are coordinated so that the decomposed transitions fire at the same time by the coordinator. System coordination algorithm through communication between the coordinator and the controllers, is presented. By the proposed method, modeling, simulation and control of large and complex manufacturing systems can be performed consistently using Petri nets.